Make path_marker_finder generic

[David Santiago Soto]

The competition requires finding the pose of multiple bright orange polygons objects repeatedly.

Kevin has implemented this successfully for the path marker (#229) but there is no reason to not use it for the bin lids as well.

I propose changing the name of the perception code from path_marker_finder to orange_rectangle_finder or some other more generic name. It should have a /set_geometry service that allows you to set the width and height of the object you want to find the pose of.

[Anthony Olive]

I can look in to this if @ironmig doesn't want to since I will be handling this part of the perception for the bins challenge anyway.

[Kevin Allen]

I got this. Already doing that so it can work with unit tests