Merge mg_wheel_interface with magrob

mg_control/assets/mg_base_controllers.yaml

@@ -0,0 +1,22 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100
+
+    diffdrive_controller:
+      type: diff_drive_controller/DiffDriveController
+    joint_state_publisher:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+diffdrive_controller:
+  ros__parameters:
+    left_wheel_names: ["left_motor"]
+    right_wheel_names: ["right_motor"]
+    
+    enable_odom_tf: true
+    odom_frame_id: odom_excpected
+    base_frame_id: base-link
+
+    open_loop: true 
+
+    wheel_separation: 0.258
+    wheel_radius: 0.0375