docs: add turtlebot4 tutorial

[boczekbartek]

Purpose

Should be merged after:

• https://github.com/RobotecAI/rai/pull/237
• https://github.com/RobotecAI/rai/pull/239
• https://github.com/RobotecAI/rai/pull/241
• https://github.com/RobotecAI/rai/pull/242

Adds turtlebot tutorial

TODOs:

• [ ] Whitlisting ros2 interfaces for the robot is needed in hmi. Refactor the code to allow it. (https://github.com/RobotecAI/rai/issues/269)

Proposed Changes

Issues

Testing