aligner_node

This simple script is called by casualty_location/casualty_save via a ROS2 service, and returns a callback via ordinary ROS2 topics.
To run the node, use

ros2 run aligner_node aligner

For debugging purposes, this node may be called to run standalone via

ros2 service call /aligner_service_call std_srvs/srv/Trigger "{}"

It operates on the following logic

1. receive service call from casualty_save
2. spin until heatsource is in the middle of the frame
3. move foward
4. stop when at a fixed threshold distance
5. send callback to casualty_save

It uses the ir_pub node's "ir_data" topic to gather information about the heatsource and uses the LIDAR "/scan" topic to detect distance to heatsource