Allow to load custom configuration for the description

[francocipollone]

Context

Nowadays the configuration files that describe the robot are located at: https://github.com/Ekumen-OS/andino/tree/humble/andino_description/config/andino

However if the user wanted to have it a bit different; motors added in a different manner, lidar displaced and connected somwhere else, base with different size; they should create their own URDF files as the configuration files are harcoded within the xacro file

Proposal

• Modify the xacro to receive by argument the path to the configuration files
• Use as default the current files if no argument is passed down to the xacro files.
• Modify the launch file to accept passing the path to the configuration yaml.

Also!

• Update documentation

[jballoffet]

@lneumarkt, are you currently working on this? No worries if not, just let us know since @JesusSilvaUtrera was considering picking it up. Thanks!

[lneumarkt]

I'm not working on is. Feel free to pick it up

[jballoffet]

Got it, thanks @lneumarkt for the prompt response!

[JesusSilvaUtrera]

Thanks @lneumarkt for the response, I will take this issue.