Industry night demo simulation

[AbBaSaMo]

Overview

Industry night for 2024 S2 is coming up around middle of semester and we want a basic sim that can run. Since we're going back to diff drive, we can whip up some quick changes to the URDF and integrate NAV2 with it.

Anthony Oon also had a nice demo world of the IGVC course we can ask for.

Relevant resources

• Link to old commit containing Gazebo diff drive plugin write-up

Acceptance criteria

• Reconfigure URDF to use gazebo diff drive
• Remove front wheels and add frictionless caster [NO FRICTION AT ALL]
• Integrate and configure NAV2
• Find the demo world Anthony made and use it
• Test and demo it