Got Camera Feed Working With Republisher

[amalnanavati]

Describe this pull request. Link to relevant GitHub issues, if any.

The app previously subscribed directly to the camera feed being published from nano. This is a problem because, due to potential ROS2 performance issues or nano compute issues, too many concurrent subscriptions will result in dropped messages. This PR addresses this by instead having the app subscribe to the republished local camera feed, which is published from a more powerful computer. This PR also makes a few smaller changes, described in the commit messages.

Explain how this pull request was tested, including but not limited to the below checkmarks.

1. Pull the latest code for all directories and re-build.
2. ros2 launch feeding_web_app_ros2_test feeding_web_app_dummy_nodes_launch.xml run_motion:=false
3. ros2 launch ada_feeding_perception ada_feeding_perception.launch.py
4. Open the web app by navigating to feedingwebapp and running npm start

• Load the live video feed from the web app, and verify that it shows up.
• In the launchfile, modify the name of the rgb_path to be 2022_11_01_ada_picks_up_carrots_camera_compressed_ft_tf.mp4. Keep the rest of the path the same.
• Run RVIZ and load the camera feed. Verify that the web app feed has no visual lag compared to the RVIZ camera feed.

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