MecanumDrive odometry and tf implementation

[danilogsch]

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🎉 New feature

Closes #683

Summary

Implementation of Mecanum drive odometry and tf based on the implementation of the Differential robot.

Test it

Run mecanum_drive.sdf and listen for odometry and tf topics.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

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[danilogsch]

depends on #486 of gz-sim.

[danilogsch]

I couldnt rebase and sign-off