Update perception stack documentation and launch parameters
Description
The parameter files for the perception pipeline are outdated for the current pipeline. This issue is to make several changes to bring them up to date. With these changes it will no longer be necessary to manually adjust parameters to run the pipeline on pcap data.
In addition, the documentation for bringing up the perception stack should be updated to reflect the new configurations.
Definition of Done
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Change the velodyne_node to publish points in the /lidar_front
frame -
Change the ray_ground_classifier_nodes to subscribe to /lidar_front/points_filtered
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Change the voxel_grid_nodes to subscribe to /lidar_front/points_filtered
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Update perception stack documentation
Edited by Jeffrey Kane Johnson