Add Rangefinder to IRIS-AP

[mhl787156]

This PR adds a rangefinder to the IRIS-AP simulation

It is simply directly added to the vehicle xacro file

TODO

• [x] Check orientation of rangefinder

[mhl787156]

@rob-clarke Do you have some time to have a look at this and confirm the orientation? I'm not sure how to orient the rangefinder downwards, I'm not sure if I have attempted it in the correct place. I have tried here:

    <joint name="iris_hokuyo_mount" type="revolute">
      <parent>iris::base_link</parent>
      <child>hokuyo_link</child>
      <axis>
        <limit>
          <lower>0</lower>
          <upper>0</upper>
        </limit>
        <xyz>-1 0 1</xyz>
        <rpy>0 0.0 0</rpy>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>

And changing the pitch value in rpy, but it didnt seem to make a difference to the range reading (always around 1.14)

[mhl787156]

Orientation of rangefinder has been confirmed. Min distance set to 0.01, max distance set to 20.0. The inertia has been set to negligible to avoid mass affect drone flight. The topic is outputed as a sensor_msgs/msg/Range on topic vehicle_x/laser/out. It is modeled as a single reading infrared laser rangefinder.

Confirmed that it works and gives valid values through running the example controller. Note that there may will probably be a fixed offset between read values and the vehicles local position height due to the positioning of the vehicle frame axis. The rangefinder is attached to the vehicle base link.