[jsk_perception] Add Visual Grounding with OFA

[Kanazawanaoaki]

This PR needs #2796 .
This PR enables visual grounding using OFA.

How to use

After build the Docker Image with bellow

$ roscd jsk_perception/docker
$ make

You need to specify the port, etc. according to the situation, but you can launch docker as follows

$ roscd jsk_perception/docker
$ ./run_jsk_vil_api ofa --ofa_task detection

Launch the ros node as follows

$ roslaunch jsk_perception detection.launch gui:=true DETECTION_INPUT_IMAGE:=/image_publisher/output model:=ofa

[k-okada]

same comment as #2796 (comment)