Implement starting procedure

[Goldob]

Implement node starting_procedure in package selfie_starting_procedure which will be responsible for controlling the vehicle during starting procedure for both dynamic events, according to Basic-Cup Regulations. The node will be started while still in the starting box (section 6.3.3), so it should detect when the gate is opened and then drive to the track. Once it gets there, it should publish a message signaling start of the attempt and then terminate.

If there is more than one node needed for the task, a launch file can be created instead.

starting_procedure

Parameters

~config_file (string)
Path to the configuration file containing homography matrices.

Subscribed topics

image (sensor_msgs/Image)
Camera image.

scan (sensor_msgs/LaserScan)
Laser scan.

odom (nav_msgs/Odometry)
Odometry data.

Published topics

drive (ackermann_msgs/AckermannDriveStamped)
Steering commands for the vehicle.

attempt_started (std_msgs/Bool)
This topic should be published exactly once as true once the vehicle reaches the track.

Subscribed transformations

base_link → laser