Add an auto-camera calibration script (#48)

* [WIP] Adding auto camera calib procedure

* [WIP] Adding camera calibration script

* [WIP] added cartesian motion, need to add charucoboard code

* [WIP] almost done, need to test in-person

* Mostly working but for error computation

* Fixed bug in calculating transformation error

* Change default calib to autocalib

* [WIP] moved to separate package, yet to test

* Finalized TODOs

* Changes from final testing

* Reject calibrations that are too far from the manual reference

* Make teh hardcoded path consistent with lovelace

* Fix off-center issue (#49)

Co-authored-by: Ethan K. Gordon <[email protected]>

* Update forque centering given updated URDF

* Small updates to camera calibration scripts

---------

Co-authored-by: Amal Nanavati <[email protected]>
Co-authored-by: Ethan K. Gordon <[email protected]>

ada_calibrate_camera/LICENSE

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+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+
+   * Neither the name of the copyright holder nor the names of its
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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ada_calibrate_camera/README.md

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+# ada_camera_calibration
+
+This file contains a nodes to do the following:
+1. Calibrate ADA's eye-in-hand system's extrinsics (run every time the eye-in-hand system changes);
+2. Publish the transform between ADA's end-effector and the camera (run every time the robot is used with perception).
+
+## Calibrating the Camera's Extrinsics
+1. Be in the `src` directory of your workspace.
+2. `python3 src/ada_ros2/ada_calibrate_camera/calibrate_camera_start.py`
+3. `screen -r calibrate`
+    1. (See here for relevant [`screen`` commands](https://gist.github.com/jctosta/af918e1618682638aa82))
+4. Follow the instructions on-screen. (Motions are expected to take ~6 mins and collect up to 30 samples)
+5. Once it is done, verify it:
+    1. Re-build your workspace.
+    2. Run `ros2 launch ada_moveit demo.launch.py sim:=mock`
+    3. In RVIZ, add an axis for `camera_color_optical_frame`
+    4. Verify it looks like the frame is correct.
+
+## Publishing the Transform
+1. `ros2 launch ada_calibrate_camera publish_camera_extrinsics_launch.xml` (this is done by default in the `ada_moveit` launchfile).