Build Interactive Everything capability into rviz

[mateiciocarlie]

Add new tools to rviz that publish the 3D click position regardless of what in the scene the click ray intersects. Current use cases:

• Robot, look here
• Teleport gripper here
• Teleport navigation goal here

Note that satisfying all of these might be simply a case of publishing to different topics.

If we end up with too many of these application-specific tools, a solution might be to have them show up / get disabled based on context, though we'll have to discuss how exactly that might look like.

In addition, add an rviz tool for the equivalent of the 'f' button (focus rviz cam).