RS Mode & Sync - Humble

[Serafadam]

Overview

Author: @Serafadam

Issue

Issue link (if present): N/A
Issue description: Adding settings to choose between different ROS interfaces, RS mode publishes topics similar to Realsense cameras. Also, multi topic syncing has been added for image topics.
Related PRs

Changes

ROS distro: Humble
List of changes:

• Added ImagePublisher class to wrap some redundancy regarding setting up Image publisher, it's a prelude to more common Publisher class which will be added for syncing other topic types.
• Added Sync node which allows syncing multiple image sources (stereo, rgb, left, right)
• Updated Node, topic and frame names to also provide RS equivalent
• Moved RGBD pointcloud and rectify nodes to camera.launch.py for better ease of use
• Updated raw rclcpp::Node definitions with std::shared_ptrrclcpp::Node
• Added getLogger() methods for simplification
• Update deprecated IR interfaces
• Removed useless utils

Testing

Hardware used: OAK-D-PRO
Depthai library version:2.26.1

Visuals from testing

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