Updated Script, added functions and cleaned up code

Author: jschlind411

.catkin_tools/profiles/default/packages/behaviours/package.xml

@@ -15,6 +15,8 @@
   <build_depend>std_msgs</build_depend>
   <build_depend>random_numbers</build_depend>
   <build_depend>tf</build_depend>
+  <build_depend>apriltags_ros</build_depend>
+  
   <run_depend>geometry_msgs</run_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>sensor_msgs</run_depend>