ROBOT CONFIG: Sim Robot Setup

[nico-palmar]

• Make basic urdf for a robot with 6 wheels and a rectangular chassis with the same dimensions as ours (to have a simple gazebo setup that we should be able to use)
• Publish nav_msgs/Odometry and sensor_msgs/msg/Imu (two requirements)
  • Add IMU to the urdf (represent our vector nav on the rover). Check that it can publish sensor_msgs/msg/Imu.
  • Add differential drive model plugin to urdf to get encoder feedback from wheels in sim
  • Publish nav_msgs/Odometry coming from differential drive controller from ros2, which assumed twist message is being published to cmd_vel topic (this part might be drivetrain people, link with them)