WIP: Add AckermannDriveStamped control to steering library

[wittenator]

This PR adds the option to use steering angle and linear velocity for controllers that inherit from the steering library. In anticipation of the merging and backport of the fixes in the ackermann controller, I branched off of the fix/steering_controllers_library_kinematics branch and cherry-picked the changes on top of the iron branch.

Status:

• Fork the repository.
• Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
• Ensure local tests pass. (colcon test and pre-commit run (requires you to install pre-commit by pip3 install pre-commit)
• Commit to your fork using clear commit messages.
• Send a pull request, answering any default questions in the pull request interface.
• Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.

[mergify]

@wittenator, all pull requests must be targeted towards the master development branch.
Once merged into master, it is possible to backport to iron, but it must be in master
to have these changes reflected into new distributions.

[wittenator]

Ah hmm, I can't move our software stack to Jazzy (due to Nvidia dependencies) and therefore have to develop these changes on Iron. Should I develop the feature completely on Iron and then cherry-pick the changes on top of the master? The drawback is that I can't really test in on the master besides a few unit tests maybe.

[christophfroehlich]

Let's merge #1150 first, and then proceed with this one here. Could you please review it and give your feedback (Files changed -> Review changes)?

[mergify]

This pull request is in conflict. Could you fix it @wittenator?