Standardize Coordinate System for Bathymetry Plugin

[woensug-choi]

Improvement to standardize the coordinate system used for bathymetry plugin,

What's been changed

• The coordinate system in the simulation was based on epsg:26987. Not uses the more conventional coordinate systems.
• EPSG:3857 for X/Y coordinate frame in simulation and EPSG:4326 for GPS and bathymetry plugin (to know which tiles to auto-spawn and auto-remove)
• The bathymetry converter now uses docker image instead of the local installation for the series converting applications. The new converter script is modified to follow the newly standardized coordinate systems
• Tried out on glider_hybrid_whoi for new Puerto Rico bathymetry from NOAA

Related

• https://github.com/Field-Robotics-Lab/dave/pull/177
• https://github.com/Field-Robotics-Lab/Bathymetry_Converter

To-do

• [x] Update all launch/world files accordingly
• [ ] Document and modify the instructions

[woensug-choi]

Merging, tested on EPIC-DAUG workstation while video meeting. The docker hub image (https://hub.docker.com/repository/docker/woensugchoi/glider_hybrid_whoi) already includes this PR.