[ros2] pass in parent frame for imarker

[mechwiz]

This PR is essentially the same as https://github.com/PickNikRobotics/rviz_visual_tools/pull/159 except targeting the ros2 branch

@nbbrooks , @AndyZe , @tylerjw

[vatanaksoytezer]

Lgtm! @mechwiz need some small formatting changes for pre-commit to pass. Can you apply?

[codecov[bot]]

Codecov Report

Merging #233 (46b01d2) into ros2 (4fe7735) will not change coverage. The diff coverage is n/a.

@@           Coverage Diff           @@
##             ros2     #233   +/-   ##
=======================================
  Coverage   19.77%   19.77%           
=======================================
  Files           5        5           
  Lines        1795     1795           
=======================================
  Hits          355      355           
  Misses       1440     1440           

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[mechwiz]

done!