Refactor Tiago setup with ROS2, teleop improvements, and cleanup

[dtotsila]

Genearated with copilot:

This pull request introduces a robust, multi-stage Docker-based development and deployment workflow for the ROS 2 Vive Controller project, and significantly overhauls the documentation to provide clear, modern, and user-focused guidance. The changes enable streamlined setup of ROS 2, SteamVR, and all required dependencies in a reproducible container environment, while also clarifying usage patterns, hardware requirements, and the internal logic of the driver and teleop bridge nodes.

The most important changes are:

Dockerization & Environment Setup

• Introduced a comprehensive, multi-stage Dockerfile (.ci/Dockerfile) that builds a base with Nvidia OpenGL, ROS 2 Humble, and SteamCMD, adds all Python and system dependencies (including SteamVR), and supports both development and deployment targets. It handles user creation, workspace setup, and includes a fix for resource marker issues during package build.
• Added an entrypoint script (.ci/entrypoint.sh) to correctly source ROS 2 and workspace environments, set default environment variables, and ensure proper signal handling for ROS launch processes.

Documentation Overhaul

• Rewrote README.md to provide a modern, user-oriented introduction, including clear hardware/software prerequisites, detailed Docker build/run instructions, and step-by-step usage for calibration and teleoperation. The new documentation also explains the architecture and logic of the driver and teleop bridge nodes, including button mappings, reference frames, and robot-specific launch configurations.

Driver & Teleop Node Explanation

• Documented the safety features (virtual fence with haptic feedback), jitter reduction (OneEuro filter), and hardware serialization logic in the driver node, as well as the hybrid relative/absolute positioning and clutch mechanism in the teleop bridge node.

Robot Integration Examples

• Provided explicit launch instructions and topic/frame remappings for integration with complex robots like TIAGo and Unitree G1, including event-driven publishing and custom hardware serial overrides.

These changes together enable a reproducible, hardware-agnostic development workflow and make it much easier for new users and developers to understand, set up, and extend the ROS 2 Vive Controller system.

TL;DR: Refactoring, ros2 only support, oob support for tiago and g1, extendable and hardware agnostic code.