Navigation Costmap

[manglemix]

What must be done
A costmap is a map of obstacles that will be generated by the robot. Using data from the camera, ROS Navigation 2 will build the costmap over time, refining it while the robot traverses from one point to another. The pathfinding algorithm will take this costmap into consideration to create a path that is safe to travel along. We can use the realsense2 camera node, which is already installed in the .devcontainer, we just need to make sure that the broadcasted messages from the node have the same name as navigation 2 expects, and it should handle the rest. The Costmap 2D component of navigation 2 should also be correctly configured for this to work.

Existing 3rd party solutions
We likely do not need to code anything, just write a few instructions

Existing internal solutions
We didn't really pull this off in usr_ws_2021

Quirks or Specifics
The task I've described here is a little simplified from reality, you should read the documentation on Costmap 2D before attempting this to properly understand what is needed.
Also, apriltag will also need data from the camera, but this does not mean we need two camera nodes at once. We can wait for apriltag to be done to see how the camera was initialized there and piggyback off of that.