Add Voxel Map and Front Camera support

[tfoldi]

This PR introduces a new ROS 2 node designed to:

• Decompress voxel map messages from the robot.
• Publish the decompressed data as a PointCloud2 message.
• Add image_transport plugin to process messages from /frontvideostream

Key Features

Decompression Algorithm:

Utilizes the C version of Unitree's decompression algorithm, originally published as WebAssembly.

The node subscribes to voxel map messages and publishes the decompressed data as a standard PointCloud2 message, making it compatible with visualization tools like RViz and processing libraries like PCL.

Video publisher

This ROS 2 node is designed to take in a custom Go2FrontVideoData message, which encapsulates video data from the Go2 robot's front camera, and convert it into standard ROS 2 sensor_msgs/Image or sensor_msgs/CompressedImage formats. The node achieves this by leveraging the image_transport framework, allowing seamless registration of an image_transport plugin to handle the image encoding and transport efficiently.

How to Run the Node

ros2 run go2_voxelmap voxelmap_node

[tfoldi]

will add video and launch files in the same round

[tfoldi]

are you guys planning to merge / review this? thanks