Basic URDF for Lexus in AVP2020 configuration

Signed-off-by: Geoffrey Biggs geoff.biggs@tier4.jp

Description

Implements part of #76 (closed)

• Testing
• Refinement of physical values, such as the size of LiDARs
• Correct collision box sizes
• Correct inertia values
• Verification that the ROS 1 accepted approach is still valid in ROS 2

Notes for Reviewer

• Does the URDF display in a viewer?
• Are the frames correct?
• The xacro version currently cannot be used as xacro is apparently not ported to ROS 2 yet?
• The intertial values are not being used (we don't have a simulator to load them because this cannot be used in Gazebo)

Checklist

• Documentation was updated