Docker Compose Migration and Enhanced Controller Management Features (+ Franka support )

[dtotsila]

Core Infrastructure Changes

• Docker Compose Migration: Deleted custom Python scripts (build_docker.py, run_docker.py) in favor of a comprehensive docker-compose.yml file utilizing profiles for different robot setups (franka, tiago, g1).
• Makefile Introduction: Added a Makefile to simplify starting specific robot missions (e.g., make franka, make tiago), building images, and running utilities.
• DDS Configurations: Added robot-specific CycloneDDS XML configuration files for Franka and Tiago.

New Features & Enhancements

• Translation Scaling: Introduced a linear_scale launch argument across launch files and vive_node.py to adjust controller movement scaling.
• Master Lighthouse Selection: Added a reference_lighthouse_serial parameter to vive_node.py. This allows the system to lock the origin coordinate frame to a specific base station, applying a 180-degree Z-axis rotation offset to it.
• Controller Identification: Added an identify ROS service to vive_node.py that triggers a haptic pulse, allowing users to physically identify which controller is mapped to which ID.
• Device Listing Utility: Created a new script (list_devices.py) to easily print all connected Vive lighthouses and controllers alongside their serial numbers.

Launch & Node Updates

• Added an only_right flag specifically for the Franka launch file to enforce single-controller operation.
• Updated setup.py to ensure all .launch.py files are properly installed.
• Improved handling of tracking loss and acquisition states in vive_node.py, including automatic haptic feedback when tracking is re-acquired.