Add Hydrus simulation with basic thruster controls

[JuanDelPueblo]

This PR contains the following:

• Adds a ROS 2 package that contains the configuriation for simulating Hydrus using the Stonefish library.
  • Also contains a Python script for rudimentary controls of the Hydrus vehicle.
• Adds a docker container exclusively for the simulation containing ROS 2 and Stonefish.

Next steps:

• Improve hydrodynamics simulation by splitting the mesh into various parts
• Develop an improved software controller with PID
• Add sensors (IMU, DVL, camera) for use by the controller
• Create environment with RoboSub mission objects

[Copilot]

Pull Request Overview

This PR introduces a complete simulation framework for the Hydrus autonomous underwater vehicle (AUV) using the Stonefish physics simulation library. The simulation provides basic thruster controls for the vehicle and sets up the foundation for future development of more sophisticated control systems and mission environments.

Key changes include:

• Implementation of a standalone C++ simulation application with window management and simulation loop
• Creation of scenario configuration files defining the underwater environment, materials, and vehicle parameters
• Addition of a detailed 3D propeller model for realistic thruster visualization

Reviewed Changes

Copilot reviewed 30 out of 33 changed files in this pull request and generated 2 comments.

Show a summary per file

File	Description
simulation/standalone_sim/src/main.cpp	Entry point that initializes the simulation window and starts the Hydrus simulation manager
simulation/standalone_sim/src/HydrusSimManager.cpp	Core simulation manager that loads scenario configuration and contains commented legacy code for manual vehicle setup
simulation/standalone_sim/scenarios/hydrus_env.scn	Main environment configuration defining ocean, materials, lighting, and vehicle instantiation
simulation/standalone_sim/scenarios/hydrus_auv.scn	Detailed vehicle configuration with 8 thrusters (4 corner, 4 depth) and complete physics properties
simulation/standalone_sim/models/propeller.obj	3D model file containing vertex, texture, and normal data for propeller visualization

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[ultra-azu]

LGTM