Implemented a thruster hardware interface and manager #5
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Changes Made
This PR ports some of the functionality originally implemented in Blue to an independent repository while also improving support for the ROS ecosystem through the use of ros2_control for managing PWM passthrough.
Associated Issues
This will contribute toward closing Robotic-Decision-Making-Lab/blue#33
Testing
Preliminary testing was done using the Blue simulation environment with a BlueROV2 Heavy configuration.