Copter: fix Iris TF and orientation

[srmainwaring]

Fix the TF for the Iris model and update the orientation to use the correct transform from Gazebo ENU to NED.

The robot_state_publisher and ros_gz bridge were both publishing TF, causing conflicts. Remap the robot_state_publisher topics so they do not conflict. Other updates ensure the composed model renders correctly in both Gazebo and rviz with correct frame structure.

Details

• Update world and model

  • Rename world to 'map'.
  • Publish 3D odometry.

• Move rviz config to separate folder.

  • Update composite example.
  • Remap /tf and /tf_static from robot_state_publisher.
  • Update rviz config.
  • Add test mission.

• Include iris model with gimbal

  • Replace in-place copy of model with include.

• Update model orientation

  • Update orientation of models to ENU.
  • Update rviz config.