Wrap everything with ROS

[EricPedley]

Doing this because I hit a roadblock with the panda3d simulation when trying to add depth-of-field as a post-processing effect. The problem is that the bounding box I calculate from the positions of the rocket 3d model and camera is out of sync with what's actually showing up in the image, which is only apparent when the rocket is moving really fast. I didn't spend too much time on that because I was kinda looking for an excuse to try out Gazebo anyways.

Opening this to remind myself I have a feature branch going.

First steps are simulating the camera mount in gazebo. Copying stuff from this tutorial: https://github.com/joshnewans/urdf_example

TODO

• robot with two joints and a camera
• control camera focus from ROS and verify depth-of-field is being simulated right
• add rocket model and simulated motion to world
• control joint speed from ROS node (last because I know this is possible and should be easy. The other ones could cause me to abandon this so no point in doing this until they work)