Normal in ArmFindSurface now represents the surface normal

[AstroStucky]

Linked Issues:

Jira Ticket 🎟️ | OCEANWATER-1185

Sibling PR

https://github.com/nasa/ow_autonomy/pull/154

Summary of Changes

• The normal parameter in ArmFindSurface now represents the surface normal at the point being interrogated as the name implies and as the unification document specifies. Previously this parameter represented the anti-normal of the surface.

Test

1. Run rostest ow_sim_tests test_arm_find_surface.test
2. Verify all test units pass

[AstroStucky]

Test passed

[ROSTEST]-----------------------------------------------------------------------

[ow_sim_tests.rosunit-test_arm_find_surface/test_01_arm_find_surface][passed]
[ow_sim_tests.rosunit-test_arm_find_surface/test_02_arm_move_cartesian][passed]
[ow_sim_tests.rosunit-test_arm_find_surface/test_03_arm_find_surface][passed]
[ow_sim_tests.rosunit-test_arm_find_surface/test_04_arm_move_cartesian][passed]
[ow_sim_tests.rosunit-test_arm_find_surface/test_05_arm_find_surface][passed]
[ow_sim_tests.rosunit-test_arm_find_surface/test_06_arm_move_cartesian][passed]
[ow_sim_tests.rosunit-test_arm_find_surface/test_07_arm_find_surface][passed]
[ow_sim_tests.rosunit-test_arm_find_surface/test_08_arm_move_cartesian][passed]
[ow_sim_tests.rosunit-test_arm_find_surface/test_09_arm_find_surface][passed]
[ow_sim_tests.rosunit-test_arm_find_surface/test_10_arm_move_cartesian][passed]
[ow_sim_tests.rosunit-test_arm_find_surface/test_11_arm_find_surface][passed]
[ow_sim_tests.rosunit-test_arm_find_surface/test_12_arm_find_surface][passed]

SUMMARY
 * RESULT: SUCCESS
 * TESTS: 12
 * ERRORS: 0
 * FAILURES: 0