Add additional topic for visualizing tracked objects from the Wayv Air

[ColtenBecker]

Summary

• Add new topic /wayv/objects/tracked which displays tracked objects from the Wayv Air as the RadarTrackedObjectArray message type.
• Add a new argument enable_pcl to the wayv_node launch file which allows enabling/disabling PCL output from the radar.
  • In my testing the Wayv Air would only output tracked objects when the PCL output was disabled and was the motivation for adding this argument.
• Update wayv_air.rviz to support showing the new tracked object topic

Running the node and visualization

1. Verify the arguments are set as desired in the wayv_node.launch file.
2. Launch the node:

   roslaunch ainstein_radar_drivers wayv_node.launch

3. Launch RViz:

   rosrun rviz rviz -d `rospack find ainstein_radar_drivers`/rviz/wayv_air.rviz

[jkey-Ainstein]

Summary of Changes

Used the branch to capture HCL support changes in 23.01.

Changes:

• Updated wayv_node to mimic wayv_api_example changes
  • Added message logging option.
  • Changed how the query & pcl commands are sent
• Expanded configuration options in the launch file
• Added camera display to launch file
• Colten added the ability to display the boundary box and wayv radar based on the settings within the radar configuration.
• Updated wayv_node to display the coordinates relative to the radar sensor position.

Testing:

• Used for testing @ HCL Redmond Lab & MS Hive
• Tested at home environment
• Testing was performed using WAYV API v3.1.3

Known Issues:

• Coordinates don't appear to line up correctly. Captured in WA Bug - WA-258