Add an auto-camera calibration script

ada_calibrate_camera/LICENSE

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ada_calibrate_camera/README.md

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+# ada_camera_calibration
+
+This file contains a nodes to do the following:
+1. Calibrate ADA's eye-in-hand system's extrinsics (run every time the eye-in-hand system changes);
+2. Publish the transform between ADA's end-effector and the camera (run every time the robot is used with perception).
+
+## Calibrating the Camera's Extrinsics
+1. Be in the `src` directory of your workspace.
+2. `python3 src/ada_ros2/ada_calibrate_camera/calibrate_camera_start.py`
+3. `screen -r calibrate`
+    1. (See here for relevant [`screen`` commands](https://gist.github.com/jctosta/af918e1618682638aa82))
+4. Follow the instructions on-screen. (Motions are expected to take ~6 mins and collect up to 30 samples)
+5. Once it is done, verify it:
+    1. Re-build your workspace.
+    2. Run `ros2 launch ada_moveit demo.launch.py sim:=mock`
+    3. In RVIZ, add an axis for `camera_color_optical_frame`
+    4. Verify it looks like the frame is correct.
+
+## Publishing the Transform
+1. `ros2 launch ada_calibrate_camera publish_camera_extrinsics_launch.xml` (this is done by default in the `ada_moveit` launchfile).