feat: update explorer_stack

fix: WIP - fix launch issues / qp-solving init interaction with rviz

fix: updated explorer_stack to be compatible with ROS2 iron and jazzy

fix: fix submodules

(fix): change background color and robot description new name

(fix): change gripper control

(fix): fix explorer on wheelchair simulation

(fix): clean launch files and doc

(feat): add joint control and fix files

(fix): fix launch file

(fix): clean and rename files, update README

(fix) : use sim_time and change qp position input to be previous command

(fix) : use sim_time

(fix): fix launch file

(feat): add head and wheelchair control with xbox controller