adds ghost_viz package

[MaxxWilson]

Description

Adds Trajectory Plotting for Model Predictive Control and Trajectory Generation via PlotJuggler

Reviewers

• @xwilson03 @melissajcruz @JakeWendling

Changelog

• Adds Trajectory Plotter for PlotJuggler
• Adds plotjuggler and plotjuggler_ros as submodules

Reviewer Guide

• For motion planning people, look at run instructions so you can use this
• For devops, add these submodules to the debian pkgs list

Testing

Manual

• ros2 launch ghost_viz trajectory_plotter.launch.py
• Start ROS Publisher and subscribe to LabelVectorMap topic
• Drag time series on to plot

Documentation

Current input requirements:

• Only supports LabelVectorMap msgs as input
• LabelVectorMap MUST contain one vector labeled "time" for plots to work
• LabelVectorMap topic MUST be under the "/trajectory" topic namespace
• Trajectories in LabelVectorMap msg must all be the same length (matching the number of points in time vector)

Video

[JakeWendling]

lgtm

[xwilson03]

Small update post-merge for any future viewers; plotjuggler isnt able to be debianized due to dependencies on ghost_msgs, which definitely cant be debianized because of its volatility.