refactor: Separate ROS2 dependencies from Python dependencies

[coderabbitai]

Background

Currently, some Python packages used in the codebase (e.g., tf_transformations) are installed via rosdep. As part of the transition from a ROS2 package to a pure Python package, we need to properly declare these dependencies in pyproject.toml.

Tasks

• Identify all Python packages currently installed via rosdep
• Add these packages to pyproject.toml with appropriate version constraints
• Update documentation to reflect the changes in dependency management
• Test installation outside of ROS workspace

References

• PR: refactor: rai the package #386
• Comment: refactor: rai the package #386 (comment)

Notes

This issue consolidates all ROS2 dependency-related comments from PR #386 to track the separation of ROS2 dependencies from Python dependencies.