Explore the realsense feature set, and how to take advantage of it in ROS

[ihsan314]

The realsense cameras were quite clear, but the depth and field of view and various other parameters were fixed. It's a several hundred dollar device, and rqt_image_view alludes to several parameters existing, so chances are there are ways to exercise the full feature set that we aren't currently exploiting.

It'd be good to understand what the realsense can do, and find out ways to integrate it into the current set up.

[Roozki]

some of the potential use cases are touched on in #428.
Solving #428 sets a good foundation for this issue

[Roozki]

It would be interesting if we could train an algorithm with the depth data of the camera in addition to the rgb data.