Incorporate landmark_pose into eskf

[AntTra]

Motivation:

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The valve pose is going to be estimated from another issue, so the ego motion of the AUV should also be known using the pose estimation of the valve

Description:

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Test the pose estimation using arUco markers https://github.com/vortexntnu/vortex-aruco-detection
Use the pose from https://github.com/vortexntnu/vortex-msgs/blob/feature/landmhttps://github.com/vortexntnu/vortex-msgs/blob/feature/landmark-msg-refactor/msg/Landmark.msgark-msg-refactor/msg/Landmark.msg

Task:

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1. Clone https://github.com/vortexntnu/vortex-aruco-detection
2. Get it to run
3. ros2 topic echo /aruco_detector/markers (this is not the final message we will be using, but it's nice for testing while the valve pose estimation is being developed)
4. Make a branch from dev/auv-navigation-eskf https://github.com/vortexntnu/vortex-auv/tree/dev/auv-navigation-eskf
5. Understand the ESKF (get it to run)
6. Integrate arUco pose in ESKF
7. Subscribe to the aruco detection landmark (discuss whether this should be filtered or not before being propagated to the ESKF)
8. Find the translational and rotational matrix of the camera coordinate to the arUco coordinate
9. Test the updated ESKF for both in the simulator and the rosbag simulating the arUco marker
10. Test if the drift corrigation works on the ESKF without the DVL
11. Update ESKF to use landmark pose instead of the arUco markers

Deliverables:

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• Takes in a landmark pose and uses it for state estimation
• Documentation on whats been done
• Proof of concept

References:

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Use the pose from https://github.com/vortexntnu/vortex-msgs/blob/feature/landmark-msg-refactor/msg/Landmark.msg
Fuse it into #577

Contacts:

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@AntTra ^_~

[kluge7]

TODO List:

• Multiple landmarks (update Landmark.msg to support this so that you dont have to handle it in your code)
• Make map of landmarks
• Verify that Aruco Detector handles misdetections