Fixes Finned Vehicle Modules

[MaxxWilson]

Reference Issues/PRs

See issue #38

What does this implement/fix?

This fixes typos and bugs in modules related to finned vehicles. This includes the Control Allocator, Actuator Manager, and FinModel within UUV AUV Control Allocator, as well as the FinPlugin and FinROSPlugin within UUV Gazebo Plugins/UUV Gazebo ROS Plugins.

Change List

• Fixes code typos in Control Allocator and Actuator Manager preventing program execution
• Migrates Control Allocator and Actuator Manager to an asynchronous initialization to fix issues with the TF Buffer Lookup (see Fixed tests and TF2 not working in thruster manager #13 for reference)
• Adds example launch and config files within UUV AUV Control Allocator for finned vehicles
• Fixes small bugs within fin config in snipppets.xacro template and standardizes link/joint names with thruster macro
• Fixes broken topic name construction in FinPlugin (variable scoping issue)
• Adds try-except structure into FinROSPlugin for improved debugging (similar to Thruster Plugins)

Additional Comments

I've tested this with our three fin vehicle in simulation, sending a command similar to this:

ros2 topic pub -r 10 /<ROBOT_NAME>/control_input uuv_auv_control_allocator/AUVCommand "{surge_speed: 2, command: {force: {x: 100, y: 0.0, z: 0.0}, torque: {x: 0.0, y: -1000.0, z: 0.0}}}"

This does indeed cause the vehicle to move forward and sets the fins correctly to induce a body torque.