[TASK] Change ThrusterAllocator to Float32MultiArray

[Aldokan]

Description of task

Update ThrusterAllocator to use Float32MultiArray instead of the vortex_msg thruster_forces

Suggested Workflow

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Specifications

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Contacts

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Code Quality

• [ ] Every function in header files are documented (inputs/returns/exceptions)
• [ ] The project has automated tests that cover MOST of the functions and branches in functions (pytest/gtest)
• [ ] The code is documented on the wiki (provide link)