[FEATURE]: Interpret the thruster allocation matrix from the robot description file

[evan-palmer]

Feature Type

Adding new functionality to the project

Problem Description

Users are currently required to manually define the TAM. In some cases, users will already have access to this. However, other users may have custom hardware and do not know the TAM a priori

Feature Description

Add support for constructing the TAM from a robot description. This has been previously explored and implemented in the thruster_manager project.

Alternative Solutions

An alternative would be to construct the TAM from the system TF tree

Additional Context

No response