Sr lr update noetic

[Serafadam]

Overview

Author: @Serafadam

Issue

Issue link (if present): #471 #470
Issue description: Update out-of-the box experience for LR/SR/Wide users. Additionally add an options to attach NNs to sensor/stereo nodes
Related PRs

Changes

ROS distro: Noetic
List of changes:

• Add URDF setup for LR and SR
• Automatically change ISP scaling parameter based on camera model to prevent unusable configurations
• Custom ISP num/den for LR for better output syncing
• Add NN enabling for individual sensors
• Add Spatial NN to a stereo setup
• Add parameter to enable/disable camera restart on lack of diagnostic data
• Update NN publishers to provide correct frame ID based on set socket
• Replace pass_tf_args_as_params with publish_tf_from_calibration argument for clarity
• RSP's robot description param is now namespaced to be consistent with TF publisher

Testing

Hardware used: OAK-D-SR, OAK-D-LR, OAK-D-PRO-W (OV9872)
Depthai library version: 2.23

Visuals from testing

Add screenshots/gifs/videos from RVIZ or other visualizers demonstrating the effect of the changes when applicable.