add apm

Controllers/Packages/cititruck_description/config/joint_state_controller.yaml

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+# Publish all joint states -----------------------------------
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50

Controllers/Packages/cititruck_description/config/steerdrive_controller.yaml

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+# -----------------------------------
+mobile_base_controller:
+  type        : "steer_drive_controller/SteerDriveController"
+  rear_wheel: '$(arg prefix)steer2sd_wheel_joint'
+  front_steer: '$(arg prefix)base2steer_joint'
+  publish_rate: 41.2               # this is what the real MiR platform publishes (default: 50)
+  # These covariances are exactly what the real MiR platform publishes
+  pose_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
+  twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
+  enable_odom_tf: false
+
+  # Wheel separation and diameter. These are both optional.
+  # diff_drive_controller will attempt to read either one or both from the
+  # URDF if not specified as a parameter.
+  # We don't set the value here because it's different for each MiR type (100, 250, ...), and
+  # the plugin figures out the correct values.
+  wheel_separation : 1.3268
+  wheel_radius : 0.125
+
+  # Wheel separation and radius multipliers
+  wheel_separation_multiplier: 1.0 # default: 1.0
+  wheel_radius_multiplier    : 1.0 # default: 1.0
+
+  # Steer position angle multipliers for fine tuning.
+  steer_pos_multiplier       : 1.0
+
+  # Velocity commands timeout [s], default 0.5
+  cmd_vel_timeout: 0.25
+
+  # frame_ids (same as real MiR platform)
+  base_frame_id: $(arg prefix)base_footprint # default: base_link
+  odom_frame_id: $(arg prefix)odom           # default: odom
+
+  # Velocity and acceleration limits
+  # Whenever a min_* is unspecified, default to -max_*
+  linear:
+    x:
+      has_velocity_limits    : true
+      max_velocity           : 1.5  # m/s
+      min_velocity           : -1.5 # m/s
+      has_acceleration_limits: true
+      max_acceleration       : 3.0 # m/s^2
+      min_acceleration       : -3.0 # m/s^2
+      has_jerk_limits        : false
+      max_jerk               : 5.0 # m/s^3
+  angular:
+    z:
+      has_velocity_limits    : true
+      max_velocity           : 2.0  # rad/s
+      min_velocity           : -2.0
+      has_acceleration_limits: true
+      max_acceleration       : 1.5  # rad/s^2
+      min_acceleration       : -1.5
+      has_jerk_limits        : false
+      max_jerk               : 2.5 # rad/s^3