Video poor quality fixes

[ConnorNeed]

Some fixes from today:

1. Adds a debug tool built into gstreamer for easier access to the pipeline graphs
2. Ensures that the videos remain a constant resolution unless explicitly scaled
3. Fixes more FEC bugs in the video streaming
4. Ensures Eileen doesn't drive away in the event of a network disruption

[Copilot]

Pull request overview

This PR targets video streaming stability/quality by improving GStreamer pipeline configuration, adding a ROS2 service to export pipeline graphs for debugging, tightening RTP/FEC configuration, and adding a drivetrain command timeout to prevent runaway behavior during network disruptions.

Changes:

• Added GraphDot ROS2 service and hooked it into BaseVideoNode to return a GStreamer DOT graph of the current pipeline.
• Updated RTP sender/receiver GStreamer pipeline strings (payload types, encoder settings, and FEC-related elements).
• Adjusted video compositor pipeline to keep a consistent output size and added per-camera caps overrides; added a chassis controller cmd_timeout.

Reviewed changes

Copilot reviewed 10 out of 10 changed files in this pull request and generated 4 comments.

Show a summary per file

File	Description
src/URDF/rover_urdf/config/ros2_controllers.yaml	Sets non-zero cmd_timeout to stop motion on command loss.
src/interfaces/srv/GraphDot.srv	Introduces new service definition for returning pipeline DOT graph text.
src/interfaces/CMakeLists.txt	Registers the new service for ROSIDL generation.
src/Cameras/video_streaming/src/rtp_node.cpp	Updates RTP sender pipeline: explicit PTs and encoder/FEC property tweaks; adjusts bitrate→resolution threshold.
src/Cameras/video_streaming/src/rtp_client_node.cpp	Updates RTP receiver pipeline: adds demux/capsfilter and sets explicit FEC PT.
src/Cameras/video_streaming/src/input_node.cpp	Forces a stable compositor sink_0 size via a black test source; adds per-camera width/height/framerate parameters; fixes sink pad indexing.
src/Cameras/video_streaming/src/base_video_node.cpp	Adds ~/graph_dot service to export pipeline DOT graph.
src/Cameras/video_streaming/launch/video_streaming.launch.py	Changes RTP destination IP in launch configuration.
src/Cameras/video_streaming/include/video_streaming/base_video_node.hpp	Declares GraphDot service member and includes the generated interface header.
src/Cameras/video_streaming/config/cameras.yaml	Adds explicit Drive camera caps (width/height/framerate) and encoded flag.

Comments suppressed due to low confidence (1)

src/Cameras/video_streaming/src/input_node.cpp:159

• In the error path where the compositor pad can't be retrieved (see the subsequent if (!pad) block), the function returns without gst_object_unref(compositor), leaking the compositor reference. Ensure the compositor is unref'd on all early-return paths (e.g., unref before returning or use an RAII guard).

    std::string pad_name = "sink_" + std::to_string(i + 1);
    GstPad *pad = gst_element_get_static_pad(compositor, pad_name.c_str());
    if (!pad) {
      RCLCPP_ERROR(this->get_logger(), "Failed to get compositor pad: %s",
                   pad_name.c_str());

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