Republish clusters without association on an "obstacles" topic
Description
In the current tracker stack as proposed in #539 (closed) if vision is used, clusters that failed to associate should be republished as obstacles. This issue tracks the implementation of this feature.
Purpose
If vision is used in the tracker, not all clusters will be tracked but only those that get associated with vision. Those that don't get associated should remain untracked obstacles and be republished from the tracker.
Definition of Done
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If vision association is on, clusters that don't get associated to tracks or vision detections must be republished on an "obstacles" topic