[FEATURE]: Integrate tf2_eigen for conversion between geometry_msg types and eigen types #20
Description
Feature Type
Changing existing functionality in the BlueROV2 driver
Problem Description
The current implementation of the ISMC controller manually converts geometry_msg types to eigen matrix types. While this is a simple change, the project will become more maintainable by replacing these manual conversions with tf2_eigen.
Feature Description
Replace instances in which geometry_msg types are manually converted into eigen types with the relevant functionality provided by tf2_eigen.
Alternative Solutions
No response