swam controller finished but not tested

real_robot/coordination_formation_control_pkg/README.md

...nation_formation_control_pkg/include/shared_definitions.h

...ination_formation_control_pkg/include/swamControllerAlg.h

...bot/coordination_formation_control_pkg/src/drone_node.cpp

...coordination_formation_control_pkg/src/omniwheel_node.cpp

...rdination_formation_control_pkg/src/swamControllerAlg.cpp

simulation/controller/SwamControllerAlg.asv