Created a description and gazebo package for the simple cylinder bot
The cylbot launch file will launch a world with the gas station and the
multisense head. RVIZ can display the laser scan, and within gazebo
one can control the spindle rate.

Current issue is that ROS does not have transform information for the
spindle. This is provided by the Multisense plugin in the drcsim_gazebo_ros_plugins
package, however, it relies on hardcoded atlas joints to be present. So
a customized version of this plugin will need to be written.
Created a package with the simple hello world plugin example from
the gazebosim website.
Added the example model plugin to the project.
Multisense head by itself is working. Need to create the mobile robot base
for the head though.
Head is now attached to a base. However, need to make the wheels more
realistic.
Head is now on a simple robot base that shows up properly in both
Gazebo and RVIZ. Need to add the controllers for the joints though.
Added a differential drive controller to the robot.
Fixed some issues with the pan and tilt joints
Can now control the pan and tilt position. The true odom frame works
as expected.
Fixed the caster wheels on the robot