Feature/adds tank urdf

[zaarabilal]

PR Summary

Description

Adds tank drive URDF and tank drive in Gazebo with working directional friction

Reviewers

• Required: @MaxxWilson

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Changelog

• Added URDF for tank drive robot (tankbot.xacro & tank_macros.xacro) which consists of a chassis with three bars and six wheels total
• Tank drive is working in Gazebo and has frictional properties set so that it is easy to push robot sideways (lower coefficient of friction) and harder to push robot forwards/backwards (higher coefficient of friction)

Reviewer Guide

• Launch Gazebo and ensure movement of tank drive is different based on which direction the same force is applied to.
  • To make sure friction is relative to robot, apply torque along Z axis and then apply same amount of force as before to different directions (friction directions should have moved with robot)

Testing

Manual

• For testing out directional friction in Gazebo:

https://github.com/VEXU-GHOST/VEXU_GHOST/assets/109311357/eecc9b1e-da04-46df-b174-c51ae4ba25de

Checklist

• [x] Confirmed all tests pass on a clean build
• [x] Added reviewers in Github
• [x] Posted PR Summary to Discord PR's Channel
• [x] Ran uncrustify on any modified C++ files
• [x] Ran Colcon Lint for any modified CMakeLists.txt or Package.xml