Create URDF and get a basic manually controller Gazebo sim working

[AbBaSaMo]

The launch file will have to consider the following components

• ros2_control
• navigation2
• localisation
• sensing
• relevant xacro/urdf files

TODO

• [x] Implement URDF
• [ ] Implement gazebo plugins for sensors [camera & IMU/GNSS]
• [x] Implement ros2_control integration including launch file
• [x] Implement launch file for sim that launches sim related components only
• [ ] Integrate Nav2

[AbBaSaMo]

https://github.com/Monash-Connected-Autonomous-Vehicle/ESDA/issues/2 is almost in a state where it can be used for sim, but it's just not accurate.

Can use the map created a while back in https://github.com/Monash-Connected-Autonomous-Vehicle/ESDA/issues/3 and spawn the ESDA. WIll have to look into spawning into a specific location or saving the map with ESDA existing in a specific location.

Additionally, creating a static way point publisher for no mans land and the ramp.

[AbBaSaMo]

Update velodyne launch to using the velodyne compose launch which launches all of pcl2 and laserscan converters

[AbBaSaMo]

Can look into using this to convert the urdf to sdf https://answers.gazebosim.org/question/2282/convert-urdf-to-sdf-or-load-urdf/

[AbBaSaMo]

Added basic integration of ros2_control ackermann controller. Need to test it now

[AbBaSaMo]

Ros2 control now working. The following tasks remain:

• [ ] IMU/GNSS & camera sensor plugin setup
• [ ] separate sim stuff from urdf
• [ ] integrate with rest of stack + nav2