WIP: Add AckermannDriveStamped control to steering library

[wittenator]

This PR adds the option to use steering angle and linear velocity for controllers that inherit from the steering library. In anticipation of the merging and backport of the fixes in the ackermann controller, I branched off of the fix/steering_controllers_library_kinematics branch and cherry-picked the changes on top of the iron branch.

Status:

• [x] Fork the repository.
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