[GSOC-95] Custom ros_gz bridge for DVL plugin

[rakeshv24]

This PR introduces the following features and improvements:

1. Developed a custom bridge to subscribe to Gazebo DVL messages and publish them to a ROS 2 topic using custom message types. This plugin can be integrated at the model level for added flexibility.

2. Added the corresponding custom ROS 2 messages to the dave_interfaces package, and developed the plugin in the dave_ros_gz_plugins package.

3. Integrated the gz::sim::systems::DopplerVelocityLogSystem plugin into the dvl_world.sdf file for testing purposes.

4. Included multiple DVL sensor models in the dave_sensor_models package.

5. Updated the launch files in the dave_demos package to improve generalization and flexibility.

Please find the documentation here.

Note: The water tracking mode has not yet been tested. It will be verified once the ocean current plugin is available.

[woensug-choi]

ros2 launch dave_demos dave_sensor.launch.py namespace:=nortek_dvl500_300 world_name:=dvl_world paused:=false headless:=true
[INFO] [launch]: All log files can be found below /Users/woensug/.ros/log/2024-08-19-10-17-28-813507-MBP.local-78177
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ruby $(which gz) sim-1]: process started with pid [78183]
[INFO] [create-2]: process started with pid [78184]
[ruby $(which gz) sim-1] Ignoring ffi-1.16.3 because its extensions are not built. Try: gem pristine ffi --version 1.16.3
[create-2] [INFO] [1724030251.959774000] [ros_gz_sim]: Requesting list of world names.
[create-2] [INFO] [1724030252.181646000] [ros_gz_sim]: Requested creation of entity.
[create-2] [INFO] [1724030252.181670000] [ros_gz_sim]: OK creation of entity.
[create-2] [ERROR] [1724030252.292380000] [rclcpp]: unhandled exception in ~Context(): mutex lock failed: Invalid argument
[INFO] [create-2]: process has finished cleanly [pid 78184]
[INFO] [launch.user]: Sensor Model Uploaded

Hmm... errror while parsing launch arguments?

BTW, thank you so much for thoughtful changes in the launching structures of dave_demo

[woensug-choi]

I've just found out that the launch argument roll, pitch ,yaw does not work. It has to be R, P, Y. We should modify from line 80-82, 20-22, and any other launch.py that uses this.

[rakeshv24]

@woensug-choi I just tried launching with all the arguements and seems to work fine. I used the following command:

ros2 launch dave_demos dave_sensor.launch.py namespace:=nortek_dvl500_300 world_name:=dvl_world paused:=false x:=0 y:=1.2 z:=-20 roll:=1.57 pitch:=0.0 yaw:=0.0 headless:=false gui:=true verbose:=true paused:=false

roll, pitch, and yaw are in radians.

I'm not sure why it does not work for you.

[woensug-choi]

If it worked for you. never mind for this PR (as it is not critically related to this)

[rakeshv24]

Actually, you are right. It should be R, R, Y.

I'll make the changes! Thanks for pointing that out!

[woensug-choi]

Strange! ros2 launch dave_demos dave_sensor.launch.py namespace:=nortek_dvl500_300 world_name:=dvl_world paused:=false x:=0 y:=1.2 z:=-20 roll:=1.57 pitch:=0.0 yaw:=0.0 headless:=false gui:=true verbose:=true paused:=false works find on ubuntu native install machine but causes context error in Mac. (again, if it's only mac problem. ignore for sake of this PR).

[rakeshv24]

Strange! It works fine for me both on ubuntu native and mac.

@woensug-choi do you think the problem could be coming from here?

I have committed some changes. Please check if the error still occurs.

[woensug-choi]

@rakeshv24 Yes it seems... but don't know why...!

[rakeshv24]

@woensug-choi it seems that the problem can be resolved by properly shutting down the node. But since this actually does not hinder with the functionality of the code, we can maybe resolve it later. What do you think?

[woensug-choi]

Saw some warnings in the DVL types. Suggested some fixes. Need to check whether it works alright.

[woensug-choi]

The DVL sensor falls down as it starts. Could we keep it fixed at a position few meters above ground with <static> at SDF?

[rakeshv24]

@woensug-choi I have incorporated all your suggestions. Hope it works fine now!

[woensug-choi]

Everything works as described in the documentation here

I've made a minor mod to adjust initial camera position at the dvl_world

P.S. I still get [create-2] [ERROR] [1724048769.870106000] [rclcpp]: unhandled exception in ~Context(): mutex lock failed: Invalid argument error on Native installed Mac OS though.

[rakeshv24]

@woensug-choi okay great! In that case, can I merge this?

[woensug-choi]

@rakeshv24 Yes Please!