Added Rviz tool for defining raster origin and direction #6
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This PR adds an Rviz tool for drawing a line (called a "located vector" in this repo) on geometry in the 3D view window, similar to the existing Rviz measure tool. The two endpoints of the line are available as a "located vector" via the ROS2
get_located_vectorservice. This PR also provides a correspondingLocatedVectorOriginGeneratorandLocatedVectorDirectionGeneratorraster planner components. Both generators call theget_located_vectorservice provided by the tool to get the origin (start point of the line) and the direction of the line for use with raster planners. Together, these components provide an easier and more intuitive means of controlling the start location and direction of the raster tool path planners.