[ROS2] Add Tighter Workspace Walls

[Amal Nanavati]

This issue encompasses the following:

1. Add a right workspace wall. We did not add that to be able to look into the planning scene in RVIZ, but the downside is that it enables the robot to make some (rare) weird motions moving to the right of the wheelchair. We should add this workspace wall back in. To look in on RVIZ, we can "remove" the wall but not publish the message, so it doesn't block our view while sitll being in the planning scene.
2. For all kinematic plans, we should add together workspace walls to prevent unnecessarily lengthy motions. For example, in Acquisition's MoveAbove, sometimes the robot makes an unnecessary swivel, which would be prevented if we have tighter workspace walls. The challenge is, for every kinematic motion, coming up with a dynamic set of walls based on the robot's current pose that still allows it to find solutions, while preventing its solutions from being too large. It should be possible, with careful design of the tighter workspace walls.