Resolved bug in BlueROV2 Heavy and Heavy Reach launch configurations (backport #193)

[mergify]

Changes Made

This PR adds a few fixes: some of which were recognized while I was debugging the build for Humble yesterday. The changes are as follows:

1. Fix the ardupilot_gazebo install. The dependencies have changed there and needed to be updated
2. Stopped passing the robot description file directly to the controller manager. This has been deprecated by the ros2_control team and needed to be fixed
3. Addressed a bad default path in the launch file for the BlueROV2 Heavy and Heavy Reach configurations

Associated Issues

• Fixes [BUG]: Incorrect default path for MAVROS configuration in Heavy and Reach Heavy configurations #192 and other issues

Testing

Testing was performed using Iron and Humble. Jazzy and Rolling are still being upgraded, so everything is broken there right now.

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This is an automatic backport of pull request #193 done by [Mergify](https://mergify.com).