Add support for spawning Sub8 and Sub9 in the same Gazebo simulator

[cbrxyz]

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What needs to change?

Warning This task is dependent on #975 being complete first. If you would like to work on this issue, please make sure that issue has been completed and merged in first.

Now that the sub8 and sub9 namespaces have been separated, we can add support for launching both subs in the same instance of Gazebo. The user should be able to launch only one subs (specified by the sub ROS argument in the gazebo.launch file), or both subs.

The user should be able to control the subs independently of each other.

How would this task be tested?

1. Test that sub8 and sub9 can be launched alone in their own instance of Gazebo. You should be able to interact with the subs, run missions, etc.
2. Test that both subs can be launched in the same instance of Gazebo. You should be able to move the subs independently of each other.

Contacts

• [ ] We need help from the mechanical team.
• [ ] We need help from the electrical team.
• [ ] We need help from Dr. Schwartz or other faculty.
• [ ] We need help from a company or an organization.
• [ ] We need help from another UF staff member or organization (ex, facilities).