Redundancy check against other sensors

[mohana-pamidi]

This creates a new script in the sensor_monitoring module, redundancy_check.py.

This was tested by:

1. launching gazebo sim: ros2 launch subjugator_bringup gazebo.launch.py
2. launching sensor_monitoring: ros2 launch subjugator_sensor_monitoring redundancy_check.launch.py
3. Publishing random noise on IMU linear acceleration:

ros2 topic pub /imu/data sensor_msgs/msg/Imu "{
header: {frame_id: 'imu_link'},
orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0},
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
angular_velocity: {x: 0.1, y: 0.2, z: 0.3},
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
linear_acceleration: {x: 50000.0, y: 0.6, z: 9.8},
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
}" -r 10

The screenshot shows the output of the redundancy check after the IMU message has been published:

In the future:

1. Will try to incorporate depth sensor
2. Dynamically change the covariance for the sensor that has the bad reading.