Backport Ackermann Steering to Citadel

[chapulina]

🎉 New feature

Backport of:

• Ackermann Steering Plugin #618
• Using math::SpeedLimiter on the ackermann_steering controller. #837
• Add Tf publishing to AckermannSteering system #1576

Summary

The only change I needed to make for it to build on Citadel was removing IGN_UTILS_TEST_DISABLED_ON_WIN32 from the tests.

The goal is to use this in a demo world that will show up at the quick start dialog from #1536 .

Test it

Try the example world:

ign gazebo ackermann_steering.sdf

ign topic -t "/model/vehicle_blue/cmd_vel" -m ignition.msgs.Twist -p "linear: {x: 0.5}, angular: {z: 0.1}"

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

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[codecov]

Codecov Report

❗ No coverage uploaded for pull request base (ign-gazebo3@8552299). Click here to learn what that means.
The diff coverage is 85.54%.

@@              Coverage Diff               @@
##             ign-gazebo3    #1613   +/-   ##
==============================================
  Coverage               ?   78.02%           
==============================================
  Files                  ?      254           
  Lines                  ?    14932           
  Branches               ?        0           
==============================================
  Hits                   ?    11651           
  Misses                 ?     3281           
  Partials               ?        0           

Impacted Files	Coverage Δ
src/systems/diff_drive/DiffDrive.hh	100.00% <ø> (ø)
...rc/systems/ackermann_steering/AckermannSteering.cc	85.49% <85.49%> (ø)
...rc/systems/ackermann_steering/AckermannSteering.hh	100.00% <100.00%> (ø)

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