Adding sensors, suspension and fixed control

[peter2380123]

This merge is quite big - along with some additions outside of this branch's original intent.

• Sensors

  • LiDAR
  • Camera (fov investigation requried, is it really 90 degrees?)

• Suspension Adding @IshanSmith's suspension into QEV2. This, however, reordered our joint description. This caused some imcompatibility with our used-to-work control plugin. THIS IS FIXED, but the update is in catkin_ws so please look into that repo. But just in case of any confusion, I'm jotting it down underneath anyway.

• Control plugin Because the way we indexed our joints in the control plugin, a re-ordered joint description will make plugin try to revolute something that cannot be revoluted. This doesn't break the model in any way (yet), but does hinder our ability to go forward/backward and to steer. This is fixed by investigating the new joint description, confirming its order and index the correct joints accordingly in our control plugin.

As of this merge, the newly updated joint description is:

[0] - susp_front_right
[1] - susp_front_left
[2] - susp_rear_right
[3] - susp_rear_left
[4] - wheel_front_right_steer_spin
[5] - wheel_front_left_steer_spin
[6] - wheel_rear_right_spin
[7] - wheel_rear_left_spin
[8] - LiDAR
[9] - ZED camera

[peter2380123]

Odd behavior when reversing, without any sensors added. A suspension issue?

[peter2380123]

Separate branch pet/fix_reverse has been created. Investigation will be carried out on that branch.