integrate ros2_control with Gazebo simulation

[CatUnderTheLeaf]

• edit URDF for using ros2_control with Gazebo
• add plugins
• adjust controllers

[CatUnderTheLeaf]

It appears that due to Gazebo name/version changes, there are very different versions of packages:
For Gazebo Fortress integration with ROS2 it is ros_gz_sim.
For robot control, it is ros2_control
However, the integration of ros2_control with Gazebo depends on ROS distro. For ROS2 Humble, it is ros-humble-ign-ros2-control, which depends not on ros_gz_sim but on ignitionv6.

So it would be strange to have both ros_gz_sim and ignitionv6.

Maybe I will update from ROS2 Humble to ROS2 Jazzy and there will be no such confusion with gazebo and ros_gazebo versions and names

gz_ros2_control