[URDF] Wheel Axis are not aligned with base_link

[stevendes]

Summary

The current implementation of the Carpincho URDF has an offset between base_link and the front_right_wheel and front_left_wheel axis, this influences localization since the robot movement also gets affected by that offset.

The fix would be to modify the position of base_link to be between the wheels, sharing the same axis.

View of the base_link and the wheels

Definition of done

• Carpincho URDF file updated with the correct values.

[francocipollone]

Closing as it was part of the noetic branch which is not supported anymore