* Refactored to support future localization sources and handlers

* Resolved PR comments

…system (#8)

* Added qualisys motion capture support

* Added mocap node to launch file

* Added missing configuration to bringup config

* Modified launch description to support running the mocap or camera regardless of whether or not it is used as a source

* Ported angler_localization

* Cleaned up dockerfile

* Moved to rolling devcontainer

* Ported angler_localization

* Cleaned up dockerfile

* Moved to rolling devcontainer

* Implemented initial versions of mux and demux

* Started to integrate blue and alpha launch files

* Continued integrating blue and alpha into system

* Converted bluerov2 sdf to urdf and split up gazebo configs

* Set up initial manipulator mount link

* Continued integrating uvms model

* Started to cleanup dockerfile to fix gz launch bugs

* [wip] resolved ros2_control launch issues - currently breaking down into smaller files

* Resolved launch issues

* More fixes and added gripper inertial properties

* kinda fixed initial position issue

* fixed bouyancy for bluerov2

* Resolved docker environment errors

* Resolved precommit errors

* Fixed precommit

* Resolved PR comments

* started jacobian implementation

* Implemented jacobians for primary tasks

* finished (untested) initial version of jacobian implementation

* Saving DH param stuff before I delete in case of revert

* One more dh save

* Finished initial untested jacobians and started constraint implementation

* go crazy

* Finished jacobian unit tests

* Cleaned up jacobian implementation in favor of tasks

* Went back on task object idea

* started controller

* Save point before I go back to task classes... again

* Improved task interface

* Implemented base tpik

* Implemented hierarchy and modes

* Finished initial implementation of set based tpik

* Wrote hierarchy unit tests and started debugging

* Fixed set tasks

* Fixed axis d bug, resolved solution selection bug, and added nvidia driver support

* Added nominal configuration task

* Fixed devcontainer and most of end effector tracking

* Debugging uvms position jacobian

* WHY WONT THE POSITION JACOBIAN WORK FOR THE LOVE OF GOD

* i believe in a world free from the curse of singularities

* wip: started cleanup

* wip: removed angler msgs

* wip: fixed waypoint planner

* wip: redid the description package and launch file

* More bug fixes from cleanup

* Finished initial cleanup and tpik implementation

* Cleaned up readme

* Readme changes

* More readme stuff

* Fixed precommit and added iron to ci

* Started development of a cleaned up dockerfile

* Continued docker setup

* Finished up updated dockerfile

* here we go again

* Removed armv7

* Added requirement for vtk

* Replaced kinpy installation with fork

* Added updated docker compose script

* Moved tf to blue

* Started integration of a bezier curve planner

* Split kinematics into separate package

* Started arming behaviors

* Removed drake stuff and finished arming behaviors

* Created base controller

* Started implementing trajectory controller

* wip: continued joint trajectory controller implementation

* Finished initial version of trajectory interface

* Rebuild image to include blue changes

* Finished joint trajectory controller

* wip: finished initial version of behavior tree

* removed branch from pipeline

* Started debugging tree

* Fixed data gathering behaviors

* Finished debugging behavior tree

* Finished initial version of behavior tree

* Added gripper and cleanup behaviors

* started trajectory replanner

* Cleaned up params

* cleaned up behavior tree

* Resolved pr comments as much as i feel like resolving them

* Fixed bug in frame names

* updated issue templates