add WaypointManagerNode composable node

[allenabraham106]

• Added WaypointManagerNode as a composable node (rclcpp_components)
• Responsible for the waypoint queue, RViz marker visualization, and waypoint
• Publishes /waypoints (PoseArray) for ArmPlannerNode to consume when execute is triggered
• Publishes /waypoint_markers for RViz visualization
• Publishes /waypoint_status using the WaypointStatus enum error codes
• All topic names and marker params configurable via ROS2 params