Prepare for the first dive

[clydemcqueen]

Start testing on live hardware.

• Split the Dockerfile into 2 use cases: simulation (sim) and hardware (hw)
• Test the hw version with various bench hardware

I modified other repos and tested the combined functionality:

• Test "skip" param in gscam2 (reduce frame rates)
• Test single map behavior in ORB_SLAM3
• Test ORB_SLAM3 reset
• Display annotated image from ORB_SLAM3

[clydemcqueen]

More testing soon, but I'm going to merge this now