Added std messages headers to all the messages so they can be plotted in foxglove.
Changed the time stamp to be the this->now() rather than sim time. The proper way to do it with sim time would be to publish simulated time to the clock.
Fixed an issue with callback creation on the C++ side. The parameter didn't match the parameter the launch file was looking for. Also added more logging to prevent issues like this in the future and to mitigate issues with typos.
Fixed typo for the non_obelisk parameter so it now looks for the correct capitalization
non_obeliskparameter so it now looks for the correct capitalization