Extract raw data and provide a means to register in external frame

[asymingt]

This PR makes a number of changes to the driver. Specifically:

1. It enables raw data. So you now get correctly timestamped sensor angles, inertial, lighthouse metadata and tracker metadata all on their own topics.
2. It fixes the "recalibrate", "composable" and "record" launch argument.
3. It adds a config_merger tool to help merge several configuration files from multiple calibration rounds. This is needed if you have one tracker working in a region where there is no point at which all base stations are in view.
4. It separates out the driver config into an "in" and "out" component, which means that you can choose to ingest a starting config but write any changes to an out put config.
5. It bind-mounts ./data into the container as ~/.ros so that config and experiment data is persisted from ta running experiment to a folder on host.

Compilation is mcuh longer now because it also installs GTSAM in preparation for a new poser that integrates multiple tracker inertial and angle information.