Mirte ROS1 simulation

[ArendJan]

ROS1 simulation made with Robot Software Practicals in mind, but also usable for any other Mirte simulation.

Features:

• sensors like a real Mirte:
• • motor encoders, with configurable ticks and bidirectional
• • sonar, uses lidar sensor, converted to the sensor_msgs::Range message type
• • ir intensity sensor: uses 1px bw camera, converted to mirte_msgs::Intensity
• • rgb camera
• Motor control like a real Mirte
• duckietown gazebo world generation with maps from https://github.com/duckietown/gym-duckietown/tree/master/gym_duckietown
• 'realsense' depth camera, currently only depth image to improve performance
• ros-control

Also adds github workflow to check xml files(world, urdf, xml, launch), yaml files, python and c++ files