Add AckermannDriveStamped control to steering library

[wittenator]

This PR adds the option to use steering angle and linear velocity for controllers that inherit from the steering library.

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[wittenator]

The tests on HEAD are currently broken, but I wanted to get this PR out in order to track progress.

[christophfroehlich]

why WIP?
Please fix the failing jobs, start with the pre-commit and clang job.
The tests on the master branch are green.

[wittenator]

@christophfroehlich I fixed all the pre-commit checks and the colcon test checks. I think this should be ready for a first review now.