WIP: Feat/2 wd plus auxiliary drive
Implements an additional motor ("auxiliary drive") into 2WD kinematic.
This may be used e.g. for tasks like hoisting weights.
- The velocity of the auxiliary drive is controlled via the topic cmd_vel/linear/z.
- A new lanche file named "emros_bringup_diffbase_plus_auxiliary.launch" is used to launch the new kinematic.
- The config variable "hoisting_feed_constant_in_m_per_round" is used for transformation from cmd_vel/linear/z to the revolution speed of the auxiliary motor.
The merge request corresponds to this EMROS-EM5 merge request: Link