Gazebo simulation yaw and doc update

[harishkumarbalaji]

• Move the Yaw calculation to the Gazebo Simulator side to maintain the same implementation similar to that of gem_hardware.py
• Address the Gem e2 GPS incompatibility and the ability to switch between the Gem e2 and Gem e4 depending upon the topic and the data type.
• Add GPS msg dependencies in the setup and Docker scripts
• Updated the main readme to link the Gazebo docs
• Updated the Gazebo docs for clear launch commands

[sonarqubecloud]

Quality Gate failed

Failed conditions
2 Security Hotspots

See analysis details on SonarQube Cloud

[krishauser]

LGTM