7.0.0-rc7

What's Changed

• Sync V7.0 by @MikeWrock in #68
• Reduce the poses used in PlanAndSaveTrajectory by @dyackzan in #67
• Sync upstream empty_ws by @MikeWrock in #70
• Apriltag update by @MikeWrock in #72
• Updating objectives with comments for the record and playback objective by @MikeWrock in #71
• fix: added subcategories to the missing objectives by @mewtwoshaurd in #74
• 7.0 sync by @MikeWrock in #78
• Reduce the poses used in PlanAndSaveTrajectory by @dyackzan in #79

Full Changelog: 7.0.0-rc4...7.0.0-rc7