WIP: Resolve "[3D global] Planner Side ROS subscribe and publish"

DRONEOA Merge Request Submission Checklist

NOTE: DO NOT EDIT TEXT BELOW BEFORE CREATING YOUR MERGE REQUEST!

• I have ensured my commit message includes explanation and description of the fix/change

• I have updated any documentation related to any changes in this request. (e.g. wiki page, Doxygen comments)

• If the change crosses multiple repos, the link is provided and both requests need to be approved before merge.

• I have built and tested this change locally.

• I have ensured that no copyright resources are used without reference. (Depends on resource policy)

• I have ensured that the merge request is correctly labeled

• I will squash commits on merge

• I will change labels for both Issue(s) and merge request(s) to MERGED after merge

Closes #115 (closed)