[FEATURE]: Transition blue_localization to marine_localization and independent drivers

[evan-palmer]

Feature Type

Adding new functionality to the BlueROV2 driver

Problem Description

This is a book-keeping issue to track the transition of the blue_localization package to marine_localization and to independent drivers for the respective localization sources.

Feature Description

The following changes will take place in the scope of this issue:

• [ ] Convert dependency on the ArduSub EKF to either robot_localization (which is unfortunately no longer supported by ROS despite it being a pretty nice package) or to Fuse which is now the official localization framework for ROS but has less support for features that underwater vehicles might use
• [ ] Export Qualisys source to its own driver (or find an alternative driver)
• [ ] Export BlueROV2 camera interface to its own driver
• [ ] Export the A50 DVL implementation to its own driver
• [ ] Document the supported drivers
• [ ] Add a demo showing how to use perform localization with the updated system
• [ ] (optional) Implement publishers for some common sensors as ros2_control sensors. This would be similar to the imu_sensor_broadcaster and force_torque_sensor_broadcaster and should use APL's marine_msgs package.

Alternative Solutions

n/a

Additional Context

No response