Develop wind_turbine_tower node

[charlesmadjeri]

Description:

Implement the wind_turbine_tower node to decode QR codes using the camera data to scan wind turbines qr codes and to provide wind turbine tower position relative to boat bow.

Tasks:

• Subscribe to /usv/hardware_interface/camera/image_raw topic for camera feed

• Subscribe to /usv/hardware_interface/camera/pos topic for camera orientation

• Implement methods to:

  • Find the wind turbine tower
  • Capture and decode qr code
  • Retrieve from camera image and camera orientation the relative angle of the wind turbine tower to the boat bow

• Publish decoded QR code information on /qrcode/data