Finish URDF file corresponding to actual car

[chsahit]

Currently, its reflecting robojacket's car's hardware

[joshuamorton]

Hasn't significant progress been made here?

[irapha]

Yes. The inertials in sahit's PR are what's missing for this to be closed I believe. It just took forever to get them and finalize the pr

[irapha]

The PR is ready #193, but there are a few things missing from the URDF so I don't want to close this issue right now.

Namely: #205 and #208