Navigate to and activate droppers at dropper task

[doruphin]

There are symbols at the bottom of the dropper bins that we can use to orientate ourselves. Use the bottom camera to orientate steelhead above it and activate the claw (which holds the droppers.)

Resources
Task Description

Notes

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

Task

• Create a node that detects the dropper images and navigates steelhead to be above it
• Trigger the actuators claw using the ActuatorsCommand service (which also drops the droppers)
• Create a gazebo launch file that demonstrates steelhead autonomously navigating to the task and activating the claw in using competition_task_dropper.world