Reworked and Stable Sonar Object/Wall Detection

[AnthonZh]

Summary

• Added sonar_object_detection.py for a pipeline to process raw sonar scans, segment them, and retrieve normal angles and poses
  • Primarily use the Fourier Transform to denoise images
  • Segments the image and throws out segments that don't meet certain criteria
  • Uses orthogonal regression to retrieve the normal angle
• Updated and cleaned the sonar.py file to move utility methods to the appropriate file
  • Moved most calculation methods over to the utility file
• Add a raw image publisher to that both the raw sonar scan and the processed sonar scan are viewable in foxglove
• Update dockerfile to install scikit-image

Testing

• Tested with empty data and previously collected data
• Tested on land

[nathanaelren]

Converting to draft as has not been pool-tested yet.

[AnthonZh]

@ChuChuCodes0414 there are linting issues in onboard/src/task_planning/task_planning/robot/oogway_shell.py, but I don't believe that we have edited this part of the program. Should we fix those linting issues or let them be?

[AnthonZh]

Only sonar tasks need pool testing now.