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Add PCAP Option for 3D Perception Stack Tutorial

Joshua Whitley requested to merge 448-create-urdf-for-pcap into master

Completes task 1 for #448 (closed). MR includes the following:

  • URDF file for Lexus RX 450h which creates the front and rear lidar TFs consistent with those in the PCAP file
  • Launch file for the 3D Perception Stack tutorial which launches all necessary files and configs for the PCAP
  • VLP-16 param file for rear lidar
  • Updated instructions for the 3D Perception Stack tutorial which include instructions for using the PCAP

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