Add omnidirectional motion model

[olmerg]

Closes #111.

Summary

Checklist

• Read the contributing guidelines.
• Configured pre-commit and ran colcon test locally.
• Signed all commits for DCO.
• Added tests (regression tests for bugs, coverage of new code for features).
• Updated documentation (as needed).
• Checked that CI is passing.

[nahueespinosa]

@olmerg First pass!

[nahueespinosa]

@olmerg Left some comments!

[nahueespinosa]

@olmerg It also looks like you need to signoff your commits and add missing docs.

[nahueespinosa]

@olmerg The GitHub diff shows unrelated changes that are already on main. Instead of pushing commits from main on top of your branch, please rebase.

Also, let's keep conversations open until the comments are addressed (commits pushed to origin) or we can agree on "no action is required". There are a couple things you haven't replied to.

[olmerg]

I made a rebase to main, maybe I require to learn something

[nahueespinosa]

For this case, this should do:

git fetch origin main:main
git rebase main
git push --force

[nahueespinosa]

@olmerg Hey, I left a few minor comments apart from #120 (comment).

[nahueespinosa]

LGTM!