Integrate X02 with URDF into our robot description

[texhnolyze]

Summary

Because we are slowly switching to the X02, we want to integrate the X02 URDF into our robot description component.

There was already some work done on this by @Flova and @ayin21, which should be used as a basis.
@BloodWork44 has an improved URDF from the project, which should be used as a basis and be made consistent with other URDF improvments.

All changes should stay on the feature/x02 branch, so the main branch is still usable on the Wolfgang robots until after the GO!

[jaagut]

Please note: The URDF must include all (relevant) frames from https://www.ros.org/reps/rep-0120.html as well as all RGB camera, depth camera, lidar, (and microphone) frames.