Nav2 Configuration

[davidcalderon03]

Description

This PR does the following:

• Reformats the urdf to be more readable and less repetitive + other changes
• Uses joint state publisher to show the TF tree in RViz
• Has lidar and depth camera added, which can be viewed in RViz.
• Also, Gazebo starts in 3 seconds rather than 30 :O !!! This will make things a lot faster

Fixes #{{ https://github.com/RoboJackets/urc-rover/issues/119 }}

Testing Steps (if relevant)

Test Case 1

1. colcon build
2. . install.setup.bash
3. ros2 launch urc_gazebo simulation.launch.py
4. In RViz, add the topics of depth_camera/points, and /scan to make sure everything is good

Expectation: The thing which does the thing does the thing

Design Presentation (only required for major additions)

Post the link to your presentation here and be sure to update the presentation document if this PR results in a significant addition to the stack

Self Checklist

• [ ] I have formatted my code using ament_uncrustify --reformat
• [ ] I have tested that the new behavior works