Setup Husky controller

[j3soon]

Depends on #3

• Implement a docker-based husky controller for ROS2 Humble similar to this ROS1 repo: https://github.com/j3soon/docker-ros-husky
• Add a script that can toggle between controlling husky in gazebo simulation (Setup Husky model for Gazebo and Nav2 Simulation #3), and in the realworld (controller implemented in this PR), or both.

Potential ROS2 references:

• https://github.com/husky/husky/tree/humble-devel
• http:https://wiki.ros.org/Robots/Husky
• http:https://wiki.ros.org/husky_bringup/Tutorials/Install%20Husky%20Software
• https://www.clearpathrobotics.com/assets/guides/melodic/husky/InstallHuskySoftware.html

[j3soon]

Just found a nice reference based on Isaac ROS which could be useful:

• https://developer.nvidia.com/blog/simulate-and-localize-a-husky-robot-with-nvidia-isaac/
• https://github.com/NVIDIA-AI-IOT/husky_demo

[j3soon]

Some references on real-world ROS 2 control for Husky (as discussed in our private discussion):

• New installer scripts: https://github.com/clearpathrobotics/clearpath_computer_installer
• New dev rules: https://github.com/clearpathrobotics/clearpath_robot/blob/main/clearpath_robot/debian/udev
• Need topic re-mapping: https://index.ros.org/r/teleop_twist_keyboard/
• New URDF: https://github.com/clearpathrobotics/clearpath_common/tree/humble/clearpath_platform_description/urdf/a200