Fix/object detection

[MarcOlivierFecteau]

Fixes the logic around the processing of the closest detected object. No error caused by lookup_transform or closestObject[2] > 0 SHOULD occur.

NOTES:

• "The maths aren't mathing": the computed distance and angle of the processed object seem incorrect from my testing.

[MarcOlivierFecteau]

Important

This PR SHOULD be merged with the squash and merge strategy, since most commits don't actually fix the issue (they are mostly about esthetics).