Triangle Buoy SM

[flamma7]

Closes #86 Closes #45

Logic of the task:

1. Go to the nearest point 'approach_dist' away from the buoy from the sub
2. Begin to orbit around the pose of the buoy 'approach_dist' away using action server "orbit_bouy"
3. Once 'number_solo_frames' of the "slay_class" have been received by the orbit_bouy server, success will be indicated to task code and PID control will be restored back to the waypoint navigator.
4. The sub records the pose it is at (preslay_pose) and sends a request to the waypoint navigator 'slay_dist' behind the buoy. The sub uses "move_mode='backwards'" in the request so that the arm doesn't get stuck in the buoy
5. The sub begins monitoring the imu and once a value on "imu_axis" is gt/lt "jump_thresh" a bump is indicated in task code. This causes the sub to abort the last request to waypoint nav and send the "preslay_pose" we recorded from step 4

New rospkg: perception_control. Meant to be the interface for visual servoing and optical flow, nodeleted with darknet and the occam driver.

Steps to run:
roslaunch cusub_sim_bringup divewell_single_task.launch
roslaunch cusub_sim_bringup leviathan_description.launch
roslaunch cusub_common_bringup leviathan_sim.launch
roslaunch perception_control orbit.launch __ns:=leviathan
roslaunch mapper mapper.launch truth_data:=true __ns:=leviathan
roslaunch state_machine state_machine.launch __ns:=leviathan using_darknet:=false config_filename:=mission_config_sim.yaml

[flamma7]

This was the OpenCV error

[flamma7]

Forgot to actually use the result of checkBoxes()

[flamma7]

This class isn't used I'm going to delete it in next PR for path marker

[flamma7]

Need to add aspect ratio yaw calculation