Humble fiducial pose

[ChandimaFernando]

This PR constructs a pose_service node that listens to the rgb camera topic and uses ArUco fiducial markers to get the pose of the sample holder. Pose of the sample holder and a pick up point in front of the sample holder are then added to tf server.

[maffettone]

This is really great work!

I have some thoughts about naming of things, and thing a refactor on the use of "service" is in order. Some other small notes and scrubbing. But otherwise, this is really get.

[ChandimaFernando]

This is really great work!

I have some thoughts about naming of things, and thing a refactor on the use of "service" is in order. Some other small notes and scrubbing. But otherwise, this is really get.

In addition this PR contains fixes

1. when ur_moveit.launch.py is launched, it looks for a missing file. Missing file added
2. Two new ros nodes to open and close the gripper is added.
3. new robot calibration parameters added
4. devcontainer base package changed from humble-dev to humble-full :

   erobs/.devcontainer/Dockerfile

   Line 1 in f854da9

   FROM althack/ros2:humble-full

[maffettone]

This is great work, needs a few changes that have been added in line, and some that I couldn't do in-line.