Added aruco_tag_locator files

[dhruvi1010]

• aruco_tag_locator.launch.py file launches all required nodes, including the stretch_driver`.

• stretch_driver is launched in its navigation mode

• aruco_tag_locator.py contains the logic to detect a specific ArUco tag and then navigate the robot to its detected location.

• target ArUco marker for this functionality is named as 'handover'

• Aruco ID: 99 of 6x6

[CLAassistant]

All committers have signed the CLA.

[hello-binit]

Hi @dhruvi1010, I ran this code and saw the problem you described. The 'handover' aruco tag is often missed by the camera, even when it is in plain view. I visualized with Rviz and saw a lot of motion blur. My fix is to half the speed the head rotates at. It reliably detects the marker and navigates/turns towards it with this change. I also pulled the d435i launch file out of aruco_tag_locator.launch.py. I launch it once separately and then keep it alive throughout my session. I've noticed that camera streams stably once started, but will sometimes have connectivity issues if it keeps being launched/killed over and over. Lastly, for my tag, I had to switch to using the 5x5 aruco dictionary, but you don't need to do this. It's just the tag I had on hand.

My edits are here: 4bfc088