Add Ackermann Steering system (backport from Fortress) (#1613)

* Ackermann Steering Plugin (#618)

Signed-off-by: Kevin <ak619@lafn.org>

Co-authored-by: Kevin <ak619@lafn.org>
Co-authored-by: Louise Poubel <louise@openrobotics.org>

* Using math::SpeedLimiter on the ackermann_steering controller. (#837)

Signed-off-by: LolaSegura <lsegura@ekumenlabs.com>

* Add Tf publishing to AckermannSteering system (#1576)

Signed-off-by: Andrew Ealovega <Andrew@Ealovega.dev>
Signed-off-by: Louise Poubel <louise@openrobotics.org>

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Louise Poubel <louise@openrobotics.org>

Co-authored-by: knoedler <knoedler@dslextreme.com>
Co-authored-by: Kevin <ak619@lafn.org>
Co-authored-by: LolaSegura <48759425+LolaSegura@users.noreply.github.com>
Co-authored-by: Andrew Ealovega <andyblarblar@gmail.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

.gitignore

@@ -12,3 +12,6 @@ build_*
 
 .ycm_extra_conf.py
 *.orig
+
+# clangd index
+.cache