Add Sensors to the Rover Simulation for Autonomy (R&D)

[sebasresen]

Recently, we got a new URDF for the Rover Simulation. Right now, we are only able to drive it, but our main goal is for it to be used to test our autonomy code.
We want to be able to simulate the collection of data from the environment through sensors. Gazebo provides depth camera plug-ins and other tools that could be useful for our purpose.

You can start by looking into our sim's README, launching it and diving into the URDF (we might need to convert .urdf into a urdf.xacro for simplicity.)

Once you're familiar with URDFs and Gazebo, you can try to:

• add a depth camera at the front of the Rover and verify we can get PointClouds through RViz or CLI.
• enable IMU functionality to get the orientation of the rover
• verify we can get odometry

Some useful links:
Official Current Gazebo Documentation
Sensors Guide for Gazebo