Warmstarting MPC and added actag detection code

.gitignore

@@ -8,3 +8,8 @@ log
 *.pyc
 *.bag
 .DS_Store
+*.mat
+.venv
+*.stl
+*.dae
+*.m

docking_control/data/topics.txt

@@ -0,0 +1,33 @@
+/BlueROV2/video
+/docking_control/marker_detection
+/docking_control/mpc
+/docking_control/mpc_pwm
+/docking_control/mpc_wrench
+/docking_control/pwm
+/docking_control/rov_odom
+/docking_control/vision_pose/pose
+/joy
+/mavros/altitude
+/mavros/battery
+/mavros/imu/data
+/mavros/imu/data_raw
+/mavros/imu/diff_pressure
+/mavros/imu/mag
+/mavros/imu/static_pressure
+/mavros/imu/temperature_baro
+/mavros/imu/temperature_imu
+/oculus/draw_sonar/parameter_descriptions
+/oculus/draw_sonar/parameter_updates
+/oculus/drawn_sonar
+/oculus/drawn_sonar_osd
+/oculus/drawn_sonar_rect
+/oculus/nodelet_manager/bond
+/oculus/oculus_metadata
+/oculus/oculus_simple_ping_result
+/oculus/oculus_sonar_driver/parameter_descriptions
+/oculus/oculus_sonar_driver/parameter_updates
+/oculus/raw_data
+/oculus/sonar_image
+/oculus/sonar_image_proc_timing
+/tf
+/tf_static

docking_control/src/actag_code.py

@@ -0,0 +1,31 @@
+#!/usr/bin/env python3.12
+
+from actag import AcTag
+# import rospy
+
+
+class AcTagDetection:
+  def __init__(self):
+      # Initialize the AcTag Detector
+      self.detector = AcTag(
+          min_range=0.1,
+          max_range=1.5,
+          horizontal_aperture=1.0472,
+          tag_family="AcTag24h10",
+          tag_size=0.130628571428644,
+          quads_use_same_random_vals=True,
+      )
+
+  def detect_tags(self, sonar_image):
+      # Detect AcTags in the sonar image
+      detected_tags = self.detector.detect_tags(sonar_image)
+      return detected_tags
+
+
+# if __name__ == "__main__":
+#     rospy.init_node("actag_detection", anonymous=True)
+#     obj = AcTagDetection()
+#     try:
+#         rospy.spin()
+#     except KeyboardInterrupt:
+#         print("shutting down the node")