Aruco code detection

[KatherineZT]

Detect Aruco codes using OpenCV.

Minimum required :

• arucoInit function : sets the dictionary of aruco codes that needs to be used (see the competition's Autonomy Guidelines rule 7.2.)
• arucoRead function : takes an image (a frame taken by the Zed camera) and runs it into the OpenCV algorithm for Aruco code detection
• Subscriber : /zed2/zed_node/left/image_rect_gray topic
• Publisher : /aruco topic
• Custom ROS node called /codes : continuously searches for aruco codes (every 5 seconds)
• When a code is found, send 2 things to the control portal : a clear image of the aruco code, and the value (0-49) associated with it
• Find a way to install the aruco library of OpenCV (part of the opencv_contrib repository) on the Jetson
• Add /codes node to a launch file

Further improvements (optional) :

• Allow the rover's pilot to turn on/off the aruco code detection with a new topic (ex. /aruco_enabled)
• Allow the rover's pilot to also find aruco codes using the robotic arm's camera
• Allow the rover's pilot to change the /codes node's frequency (search for aruco codes more often, less often, every X frames, etc.)