Multiple Camera support for transform_sensor

[henrygerardmoore]

This adds the ability to use multiple cameras and relevant documentation.

Also fixes the update rate not listening to configuration by changing the default tf timeout for the publisher to be inline with the other values of that parameter.

[rlpratt12]

Generally looks good! The only minor change I'd suggest is making pose_covariance a vector (of vectors) to match estimation_frames so that we can pass in a different covariance for each (camera) source.

[rlpratt12]

Also, I think we need to fix the blowing up orientation covariance issue. I confirmed this only happens in this branch, and not on main:

[henrygerardmoore]

Generally looks good! The only minor change I'd suggest is making pose_covariance a vector (of vectors) to match estimation_frames so that we can pass in a different covariance for each (camera) source.

Good point, I'll do that.

[henrygerardmoore]

Also, I think we need to fix the blowing up orientation covariance issue.

Will address this in a separate PR for that workspace

[rlpratt12]

LGTM!

[henrygerardmoore]

Tested on HW and this works well, so merging it