Robot footprint and basic navigation

[nico-palmar]

Once we have urdf, odometry, robot coordinate frames, sensors, and a map - we can start doing some basic nav stuff.

We need to first create the robot footprint which is like it's outline, then investigate and implement the SIMPLEST navigation algorithm possible to test in simulation.

More details later.

Resources
https://navigation.ros.org/setup_guides/footprint/setup_footprint.html
https://navigation.ros.org/setup_guides/algorithm/select_algorithm.html