Add: ROS2 Support and IMU Random Noise

[Alb33rt]

Changes Made

• Changed configurations to work on ros2 instead.
• Added random walk and random simulations to the IMU

Rationale/Other Solutions Considered

• Improves the accuracy of the simulation environment

Tests Done

• Tested using AUV-2026, streaming data to the docker container
• Utilized Foxglove to verify the movement of the noise.

[WilliamZhang2205]

From what I remember, you told me the DVL would also rely on the RandomWalk. I think itd be better to have a random walk and generate Noise as helper methods for all sensors that take parameters for the noise of specific sensors. Is that doable?

Theory wise Imma need you to explain it to me but I trust the math you did. Surface level review looks sensible.