[TASK] Sonar info message type

[jorgenfj]

Description of task

Sonar info message type following a similar concept to Camera Info is necessary in order to retrieve 2d position from image coordinates of a sonar scan.

Suggested Workflow

No response

Specifications

• Header
• Relevant conversion stuff
• Optionally include image size
• Optionally include vertical fov of sonar. This might not make sense for the physical sonar, but can aid sensor fusion in the simulator where an exact vertical fov is available

Contacts

No response

Code Quality

• Every function in header files are documented (inputs/returns/exceptions)
• The project has automated tests that cover MOST of the functions and branches in functions (pytest/gtest)
• The code is documented on the wiki (provide link)