Integrate support for Gazebo Garden

[evan-palmer]

Checklist

• I have performed a thorough review of my code
• I have sufficiently commented my code
• The implementation follows the project style conventions
• All project unit tests are passing
• If relevant, documentation has been provided or updated to discuss the changes made
• System integration tests were performed successfully

Changes Made

This PR introduces a couple of changes including:

• Integrated bare-minimum support for Gazebo Garden. This is technically broken until I can figure out a fix for this issue: Failure to set initial_value for position state interface when loading velocity controller ros-controls/gz_ros2_control#167. But if users implement their own worlds and get this off of the ground, then it works fine.
• Integrated a simplified physics model and collision model
• Updated the devcontainer to support visualization with NVIDIA drivers
• Updated the Reach Licenses according to their updated license

Associated Issues

• Fixes [FEATURE]: Implement support for Gazebo Garden #48
• Fixes [BUG]: Resolve physical property issues in the Alpha URDF #12
• Closes [FEATURE]: Migrate to Gazebo Garden for simulation #45

Testing

Some preliminary testing was done to make sure that I didn't break anything using Moveit2 and the fake hardware. I've opened a new issue here describing the issue observed in Gazebo.