Navigate to and fire at torpedo task

[doruphin]

Once we get past the slaloms, we have to detect and fire at the torpedo task. For now, it doesn't matter if we hit the targets.

Resources
Task Description

Notes

• Requires the dataset from computer vision
• Can ask Dorson on how to trigger the actuators torpedo launcher in simulation (and in real life)

Task

• Create a node that detects the tagging task images and navigates steelhead to be in front of it
• Trigger the actuators torpedo through the ActuatorsCommand service
• Create a gazebo launch file that demonstrates steelhead autonomously navigating to the task and firing the torpedo using competition_task_torpedo.world