Teleop working

Physics should now be correct, even rotation. I was able to do the prequal task successfully in teleop mode.

However, I needed to replace qubo with the bluerov2_heavy.

This has basically the same thruster config as Qubo. My version is slightly modified from https://github.com/clydemcqueen/bluerov2_ignition/blob/main/models/bluerov2_heavy/model.sdf.

Hopefully, we can figure out what's going wrong with Qubo from here.