Added documentation for multi-robot simulation and teleoperation

docs/docs/tutorials/multirobot.mdx

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+---
+sidebar_position: 4
+title: Multi Robot Simulation
+---
+
+This page provides a collection of tutorials that describe how to simulate, launch controllers, and teleoperate multiple BlueROVs. Prior to starting these tutorials, you should have completed the [Running Blue in Simulation](/tutorials/simulation),the [Integrating Custom Controllers](/tutorials/control), and Keyboard teleoperation section in[Teleoperation](/tutorials/teleop) tutorials.
+
+## Multi Robot Simulation and Teleoperation
+
+This tutorial describes how to launch multiple BlueROVs in Gazebo with non-conflicting communication channels, independent controllers, and perform keyboard based teleoperation. It also demonstrates spawning static and dynamic obstacles in the environment.
+
+<div align="center">
+   <img src="../../static/img/multi-robot-sim/multi-rob.png" alt="My Image" width="300"/>
+</div>
+
+### Dependencies
+
+The following ROS 2 dependencies are required for this tutorial:
+
+- Gazebo Harmonic or newer
+- [ardusub_driver](https://github.com/Robotic-Decision-Making-Lab/ardusub_driver)
+- [auv_controllers](https://github.com/Robotic-Decision-Making-Lab/auv_controllers)
+- [teleop_twist_keyboard](https://github.com/ros2/teleop_twist_keyboard)
+- [mobile_to_maritime](https://github.com/Robotic-Decision-Making-Lab/mobile_to_maritime)
+
+These dependencies will be met by default if you have installed Blue with
+Docker as described in the [installation instructions](/installation).
+
+### Tutorial steps
+
+1. Launch the demo Dependencies for `rob_1` and `rob_3` instances in simulation by running the following commands:
+
+   ```bash
+   ros2 launch blue_demos rob_1_bluerov2_heavy_demo.launch.yaml use_sim:=true
+   ```
+
+   ```bash
+   ros2 launch blue_demos rob_3_bluerov2_heavy_demo.launch.yaml use_sim:=true
+   ```
+
+2. Once Gazebo, ArduSub, and MAVROS have fully loaded, open a new terminal and launch the demo control framework for `rob_1` and `rob_3` instances:
+
+   ```bash
+   ros2 launch blue_demos rob_1_bluerov2_heavy_controllers.launch.py use_sim:=true
+   ```
+
+   ```bash
+   ros2 launch blue_demos rob_3_bluerov2_heavy_controllers.launch.py use_sim:=true
+   ```
+
+3. For teleoperation, we will launch the `teleop_twist_keyboard` node for each robot instance in a new terminal:
+
+   ```bash
+   ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r __ns:=/rob_1
+   ```
+
+   ```bash
+   ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r __ns:=/rob_3
+   ```
+
+4. As noted in Teleoperation tutorial, the `teleop_twist_keyboard` node will publish velocity commands according to
+   [REP-105](https://ros.org/reps/rep-0105.html); however, the launched ISMC
+   adheres to the maritime conventions recorded in [REP-156](https://github.com/ros-infrastructure/rep/pull/398).
+   To convert the velocity commands to the appropriate convention, run the
+   `message_transforms` node in a new terminal:
+
+   ```bash
+   ros2 launch message_transforms message_transforms.launch.py parameters_file:=<path/to/transforms.yaml>
+   ```
+
+   where `<path/to/transforms.yaml>` should be replaced with the path to the
+   `transforms.yaml` file in the `blue_demos` package, e.g.,
+
+   ```bash
+   ros2 launch message_transforms message_transforms.launch.py parameters_file:=./blue_demos/multi_robot/teleoperation/config/rob_1_transforms.yaml ns:=/rob_1
+   ```
+
+   ```bash
+   ros2 launch message_transforms message_transforms.launch.py parameters_file:=./blue_demos/multi_robot/teleoperation/config/rob_3_transforms.yaml ns:=/rob_3
+   ```
+
+5. You should now be able to teleoperate both the BlueROV2 using your keyboard from respective terminals.