ros2 control migration

[leungw16]

What type of PR is this? (check all applicable)

• [ ] Refactor
• [x] Feature
• [ ] Bug Fix
• [x] Optimisation

[required] Description

Phase 1 of migration to ros2_control. Currently replaces the functionality of the velocity controller while hopefully providing better odometry using built in ros2_controllers.

• Added 2 custom packages (ros2_control_bringup, qutms_hw_interfaces) along with various ros2_control related dependencies
• Modified vehicle urdf package to add 2 sets of virtual center wheels to interface hardware with the bicycle_steering_controller.
• Modified the vehicle supervisor package to publish wheel position data and to aggregate the 2 rear wheel positions as the virtual center wheel position.

[optional] Usability concerns or breaking changes?

Current packages should not be affected by this change