[jsk_perception] Add Visual Grounding with GroundingDINO

[Kanazawanaoaki]

This PR enables visual grounding using GroundingDINO.

How to use

After build the Image with bellow

$ roscd jsk_perception/docker
$ make

You need to specify the port, etc. according to the situation, but you can launch docker as follows

$ roscd jsk_perception/docker
$ ./run_jsk_vil_api dino

Launch the ros node as follows

$ roslaunch jsk_perception detection.launch gui:=true DETECTION_INPUT_IMAGE:=/image_publisher/output

[mqcmd196]

I'll review it on Saturday

[mqcmd196]

Do you think creating this new msg (ClassificationResult + RectArray) is necessary? There were so many cases of returning detected objects' rect array.

To see jsk-ros-pkg/coral_usb_ros, it publishes RectArray and ClassificationResult at same time.

I want some opinion.

[Kanazawanaoaki]

Sorry for the late reply.
I see. I guess I thought it would be convenient to have one message at the time, but I will change it so that RectArray and ClassificationResult can be sent out at the same time and synchronized when they are used.

[Kanazawanaoaki]

I worked around this change in the 0b042ac and 4f03060 commits and modified it to be executable.

[mqcmd196]

Sorry for late. I left single comment, but overall lgtm