[Feature] Implement Camera-LiDAR Pipeline

[Ulixes-8]

Description

The Camera-LiDAR pipeline fuses data from LiDAR and the six AV cameras, which are merged in a later pipeline with 3D object detections to perform multi-object tracking. The pipeline includes camera-based 2D object detection, LiDAR clustering, and ROI camera-LiDAR cluster fusion.

Checklist
Write a launch file that successfully launches:

• Camera-based 2D object detection module.
• The LiDAR pipeline.
• The occupancy grid map pipeline.
• ROI cluster fusion module.

Acceptance Criteria

As confirmed by testing:

• The camera-based 2D object detection module takes in image messages from the 6 AV cameras and returns DetectedObjectsWithFeatures (ROIs).
• LiDAR clustering module takes in PointCloud2 messages and returns a cluster point cloud in the form of DetectedObjectsWithFeatures.
• ROI cluster fusion module takes in the ROIs from the camera-based 2D detector and the cluster point cloud from the LiDAR clustering module, as well as camera information, to output the final labeled cluster point cloud as DetectedObjectsWithFeatures.

Priority
High (3/3)