rover: offboard support through trajectorySetpoint.msg

[chfriedrich98]

Solved Problem

The rover modules currently do not support offboard control through the trajectorySetpoint.msg
Fixes #23663

Solution

Add a translation layer for the rover modules to turn the trajectorySetpoint.msg into rover setpoints:

• Mecanum: Supports position, velocity, yaw and yaw speed setpoints.
  The setpoints are prioritized in the following descending order position -> velocity and yaw -> yaw speed.
  Higher priority setpoints override lower priority ones due to the fact that they can't be achieved simultaneously.
• Differential: Supports position, velocity, yaw and yaw speed setpoints.
  The setpoints are prioritized in the following descending order position -> velocity -> yaw -> yaw speed.
  Higher priority setpoints override lower priority ones due to the fact that they can't be achieved simultaneously.
• Ackermann: Supports position setpoints.

Test coverage

• Tested in simulation using ROS2

Context

Related links, screenshot before/after, video