Tracking converter for ROS2 Humble

[daniqsilva25]

Overview

Author: @daniqsilva25

Issue

Issue link: #146 Issue description: Absence of a tracking converter in ROS2 Humble. This PR adds a tracking converter to enable object tracking with ROS2. Related PRs: #494

Changes

ROS distro: Humble List of changes:

• Added a track detection converter and track spatial detection converter for tracking purposes with 2D or 3D detections, respectively;
• Added new ROS2 messages for tracking: TrackDetection2D and TrackDetection2DArray. The first message adds two important fields for tracking tasks: tracking age and tracking status, both available in the depthai pipeline. The second message is just an array of the first one;
• Added two YOLOv4-based object tracking ROS node examples in depthai_examples.

Testing

Hardware used: OAK-1, OAK-D Depthai library version: 2.21.2.0

Visuals from testing

Add screenshots/gifs/videos from RVIZ or other visualizers demonstrating the effect of the changes when applicable.

[daniqsilva25]

Hi @Serafadam, as you suggested, I've made this PR according to the previous one in Foxy. Can you please review this? Thanks!