Test articulations against vehicle dynamics

RobotControlTest/03_CONTROL_ACKERMANN_TOPIC/CONTROL_ACKERMANN_ARTICULATIONS_TOPIC_TESTCASE.md

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+# Test Goal
+
+- Check if ROS2 Control creates proper topics
+- Check if messages are received and processed
+- Check Vehicle dynamic 
+
+# Test Perquisite
+
+- Empty default Level
+- ROS2 Gem activated
+- Physx 5 enabled by : `-DAZ_USE_PHYSX5:BOOL=ON `
+- O3DE Editor running
+
+
+# Steps
+
+## Step 1
+
+Launch the system terminal and run:
+
+```bash
+source /opt/ros/humble/setup.bash
+ros2 topic list -t
+```
+
+Leave the terminal open - it will be needed in the next steps.
+
+> Note: make sure, no ROS services are runing on your computer
+
+### Expected result
+
+- It should NOT include any messages of type: `geometry_msgs/msg/Twist`
+- It should NOT include any messages of type: `ackermann_msgs/msg/AckermannDrive`
+
+## Step 2 
+
+Copy the file: [ackermann_robot_articulations.prefab](../Assets/ackermann_robot_articulations.prefab) into the Assets folder of your project and instantiate it. Move the robot to be located above the ground plane.
+
+### Expected result
+
+Your level should look like this:
+![](images/control_initial_setup.png)
+
+## Step 3
+
+Press `Ctrl+G` to enter game mode.
+
+## Step 4 
+
+In the terminal run:
+
+```bash
+ros2 topic list
+```
+
+### Expected result
+
+You should see something like this:
+
+```bash
+/base_link/ackermann_vel [ackermann_msgs/msg/AckermannDrive]
+/clock [rosgraph_msgs/msg/Clock]
+/parameter_events [rcl_interfaces/msg/ParameterEvent]
+/rosout [rcl_interfaces/msg/Log]
+/tf [tf2_msgs/msg/TFMessage]
+/tf_static [tf2_msgs/msg/TFMessage]
+```
+
+Detailed list of topics may by different, but:
+- It should include `/base_link/ackermann_vel` of type: `ackermann_msgs/msg/AckermannDrive`
+- It should NOT include any messages of type: `geometry_msgs/msg/Twist`
+
+## Step 5
+
+In the terminal run:
+
+```bash
+ros2 topic pub -r 10 /base_link/ackermann_vel ackermann_msgs/msg/AckermannDrive "{steering_angle: 0.7, steering_angle_velocity: 0.0, speed: 2.0, acceleration: 0.0, jerk: 0.0}"
+```
+
+### Expected result
+
+The robot should drive in circles.
+
+![](images/control_result.gif)