Added RGBD example

[ahcorde]

Added two systems:

• System to publish CameraInfo
  • publish camera_info topic
• System to publish color image and depth image
  • publish depth and image sensor_msgs/msg/Image topics

Example includes:

• cart pole
• RGBD camera
• RGBD camera info

Then with depth_image_proc it's possible to generate the cloud point

TODOs:

• Check why the point cloud is not aligned with the real position of the cart pole
• Clean code
• Fix CI

cart_pole_drake.mp4

For testing just launch

ros2 launch drake_ros_examples rgbd_launch.py

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This change is 

[adityapande-1995]

Mostly looking good, a partial review here with some minor changes. Trying out the examples and tests

[adityapande-1995]

Reviewed 1 of 26 files at r1, 1 of 11 files at r2.
Reviewable status: 2 of 28 files reviewed, 5 unresolved discussions (waiting on @ahcorde)

[adityapande-1995]

Reviewed 4 of 26 files at r1.
Reviewable status: 6 of 28 files reviewed, 7 unresolved discussions (waiting on @ahcorde)

[adityapande-1995]

Can we add a README here with the rgbd example ? It contains a cc executable, a py executable, launch files, and rviz configs. The cc and py executables have bazel targets, but the launch files won't work using bazel, so it might be confusing to users, as to how to run these examples. We could have a "run this using colcon" or "run this using bazel" guide.

[adityapande-1995]

Still trying to debug the rgbd_py target, I get a "libclang not found" error, even after installing clang. Not sure whats happening there. Otherwise, this looks mostly good to me, and can approve once this is resolved. When running the example, I saw the pointcloud image was lagging behind the camera image in rviz, though I don't think this is a problem with this PR or the systems written here.

[adityapande-1995]

LGTM ! Maybe we could add a readme note about the lag between the camera and pointcloud images.

[adityapande-1995]

Reviewed 9 of 26 files at r1, 7 of 11 files at r2, 1 of 2 files at r3, 8 of 8 files at r4, all commit messages.
Reviewable status: all files reviewed, 8 unresolved discussions (waiting on @ahcorde)

[adityapande-1995]

Reviewable status: all files reviewed, 8 unresolved discussions (waiting on @ahcorde)

[adityapande-1995]

Probably needs a rebase to main, seems like a C++ 20 error.

[EricCousineau-TRI]

I'll take this PR and try to land a version of it rebased on latest main, thanks!

[EricCousineau-TRI]

Closing in lieu of #355