Copter: add gimbal and camera to iris

[srmainwaring]

Update launch files to use the version of the Iris with the camera and gimbal.

Related issues

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

Details

• Use modified versions of the ardupilot_gazebo models using package:// URI's rather than the model:// versions.
• Update the bridge yaml to map the camera stream to ROS 2.
• Update rviz config to display the image.
• Update the launch files to use the parameters for the gimbal variant of the iris.
• Update the launch files to set the SDF_PATH correctly for sdformat_urdf.
• Add the gimbal to the iris world file.
• Add a ros2_gz.repos file detailing all source dependencies.

Testing

Figure: iris with gimbal and camera in Gazebo streaming sensor data to ROS 2.