rsys-1487 -- added gyro interface to robot controllers

[navyenzo]

Ticket: https://fetchrobotics.atlassian.net/browse/RSYS-1487

Description

Need to provide controller direct access to gyro data though controller interface.

Reason

The gyro will be used to stabilize the wheel controller in situations when wheels start slipping or when wheels have to go over bumps

Tests

Code compiles but will need to be tested

[cjds]

Going to close this out in favour of https://github.com/fetchrobotics/robot_controllers/pull/43/files