[🐛BUG🐛]: Using quaternion instead of single rotation angle

[dyu056]

Is there an existing issue for this?

• I have searched the existing issues

Description of the bug

The previous implementation of the cone map and cone detection use single axis rotation. The new one should include general rotation

Steps To Reproduce

No need to reproduce.

Code implemented:

• In cone detection
• In cone map
• In simulation cone detection node