feat(depthmonitor): depthmonitor service

[aloknerurkar]

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• [ ] I have read the coding guide
• [ ] My change requires a documentation update and I have done it
• [ ] I have added tests to cover my changes.

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[acud]

@istae when you use external PRs to resolve the comments on this PR, it makes it more difficult to follow up on the review process. it makes the reviewers now have to go through the diffs and resolve the comments themselves. I would advise to address the comments within the PR in the future. Also, since you worked on the PR, maybe it is better that you don't approve it yourself :)