Copter: add bring-up and launch for Iris

[srmainwaring]

Add packages for bringing up an Iris Quadcopter in Gazebo with ROS 2 / ArduPilot SITL / microROS DDS.

Project dependencies

• Gazebo Garden
• ROS Humble
• ros_gz
• gps_umd
• sdformat_urdf
• ardupilot
• ardupilot_gazebo
• micro-ROS-Agent
• micro_ros_msgs
• Micro-XRCE-DDS-Gen

Related issues

• https://github.com/ArduPilot/ROS2_Tools/issues/1
• https://github.com/ArduPilot/ROS2_Tools/issues/2

Related PRs

• https://github.com/ArduPilot/ardupilot/pull/23507
• https://github.com/ArduPilot/ardupilot/pull/23429
• https://github.com/ArduPilot/ardupilot_gazebo/pull/53