Mobile robot simulation in ROS 2 (0-20 points)

Grading:
- ROS 2 node with Controller (6):
  + it has control functions implemented using more complex mathematics like trygonometry (sinus, cosinus etc.) or for a meaningful robot path (4)
  + its output uses geometry_msgs/Twist message (2)
  + it uses closed-loop controller with trajectory generator (up to 5 additional points)
- node with Mobile Robot Simulator (9):
  + it correctly solves the system of equations for new robot states (4)
  + it publishes robot_pose with geometry_msgs/PoseStamped and tf as transformation between world and base_link frame (3)
  + it still works for no control value at the specific point of time (robot_pose, tf) (2)
- visualization with RViz or Foxglove (3)
- the whole project is a set of ROS 2 packages with one ROS 2 launcher (2, MANDATORY)

Total - 20 points