Perception: detect the length and width of the trolley for footprint extension

[padhupradheep]

Continuation of #1

Once the docking is done, it will be necessary to include the trolley as part of the robot footprint for the planning to occur. With the laser scanner data, it would be possible to closely estimate the dimensions of the trolley. With the length and the width know, we can adjust the footprint for the control.

if the laser scanner does not have the fov then, just use the depth cameras!