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Add new heavy chassis controller first edition - #225

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Add new heavy chassis controller first edition

  1. 添加了改装底盘控制器,作为重装机器人底盘控制器的预开发与测试
  2. 有自定义msg的使用,注意更新包rm_msgs以使用本新控制器
  3. 配置文件编写:
# 上面和旧英雄底盘配置相同
     pitch_threshold: 0.05
     pos_tolerance: 0.025
     flipper_cmd_vel_coff: 1.0
     sus_cmd_vel_coff: 4.5
     sus_upper_pos: 0.75
     sus_lower_pos: 0.0
     flipper_upper_pos: 1.57
     flipper_lower_pos: 0.0

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