Add Swerve Drive Controller

[nitin2606]

Description

This PR introduces the swerve_drive_controller, a new controller for swerve drive robots with four independently steerable wheels, enabling omnidirectional motion in ROS 2. It complements controllers like diff_drive_controller by supporting advanced mobile robot platforms.

Features

• Supports geometry_msgs/msg/Twist or TwistStamped velocity inputs (x, y linear; z angular).
• Publishes raw nav_msgs/msg/Odometry for user-defined post-processing.
• Publishes /tf transforms (optional, if enable_odom_tf=true).
• Configurable via YAML for wheel geometry and kinematic constraints.

Changes
Added swerve_drive_controller package (src/, include/, test/).
Exported as a pluginlib plugin (swerve_drive_controller_plugin.xml).
Updated ros2_controllers CMakeLists.txt and package.xml.
Included gtest tests (test/test_swerve_drive_controller.cpp) and config (test/config/test_swerve_drive_controller.yaml).

[christophfroehlich]

Thank you for your contribution. But there is some chaos in the commit history now, can you please rebase your changes on top of master and force-push it once? In the future, you can just merge the master into this branch, even manually or using the github UI.

[nitin2606]

@christophfroehlich PR #1692 was closed and couldn’t be reopened. I’ve created a new PR with feature/swerve-drive-controller, a single commit, and the latest files. Please review the new PR. Thanks!". Sorry for the inconvenience.

Added Swerve Drive Controller Package #1694 (new PR)