USBL Integration

[DrYerzinia]

Create a script or Gazebo plugin to simulate the USBL system.
Topics:

• Message: array of bytes to send over USBL to the other sub
• Position: relative pose of other sub compared to us. Does USBL also support relative orientation. Not sure how this data comes out. Perhaps both sides get the information of which direction/how far things are in there data?

Future tasks will use this simulated driver to develop sub cooperation in tasks.