Add the D405 to the TF Tree

[hello-amal]

Currently, the D405 is not properly added to the TF tree. There are two core issues:

1. We need to compute the extrinsics transform between link_gripper_s3_body --> gripper_camera_link and add it to the xacro.
2. In ROS2, our multi_camera launchfile includes the realsense multi_camera launchfile, which adds a default identity transform between the two camera's link frames. So we'll need to copy the realsense_ros logic into our own launchfile and remove the static transform broadcaster.

[hello-binit]

Thanks for opening this issue @hello-amal. We'll need to include the "sensor_d405" xacro (found here) in our stretch_tool_sg3.xacro. This will require computing the extrinsic transform you mentioned in pt 1 from our CAD.

[hello-fazil]

p1 and p2 are solved with the following PRs:

• https://github.com/hello-robot/stretch_urdf/pull/23
• https://github.com/hello-robot/stretch_ros2/pull/132