Feature: TF Tests

[guilyx]

Purpose

Some packages needs tfs to be tested, this introduces a basic broadcaster/listener to transform poses, get transforms and broadcast a transform.

Approach

• A Listener Class
  • initialized with a transform tolerance duration
  • get the transform values from a frame to another
  • get a transformed pose given a pose and a target frame
• A Broadcaster Class
  • initialized with a transform and a broadcast rate
  • exposes setter/getter for the broadcasted transform
  • broadcasts the currently stored transform at the given rate

Open Questions and Pre-Merge TODOs

• Broadcaster standalone test
• Listener standalone test
• Broadcaster/Listener communication test

Dependencies

None

Disclaimers

None

Learning

None

[guilyx]

@SomaGallai I put your CI branch on top of this one so this PR will integrate the CI