Fix rosbags & latency issues

[azhangvo]

Motivation

In the pipeline of realsense camera -> rosbag -> mp4 video, we see a lot of frame skipping, swapping, and general lag that makes the data virtually impossible to work with. We should resolve these issues to get a constant frame rate and be able to play it back reliably.

Changes

• Disabled align_depth on realsense camera, which fixed frame skipping
• Rewrote rosbag2mp4 script to make it more reliable, by reading directly from sqlite database instead of playing back
• Created a new launch script for the realsense camera to support exposure control
• Added several scripts for rosbags

Testing

Recorded working rosbags

• https://utexas.app.box.com/folder/291997357607
• https://utexas.app.box.com/folder/291999673811

Robustly converted to video
https://github.com/user-attachments/assets/34702fb5-35d2-4dfc-9269-4624fe4d1a6d