[GSOC-87] Robot models with sensor plugins

[rakeshv24]

This PR includes the following updates:

1. Added Gazebo plugins for the sensor and DVL systems to the world files.
2. Removed the redundant DVL world file.
3. Made a minor modification to the topic name in the sea-pressure sensor plugin's source code.
4. Integrated all relevant sensor plugins for the rexrov and glider_slocum models.
5. Created separate launch files for each robot model to initialize a ros_gz_bridge node properly.
6. Combined dave_robot_launch package with dave_demos for generality.

Documentation: Link

[woensug-choi]

@rakeshv24 Could we have those ros_gz_bridge launch files in the each robot's description folder along with the model.sdf? I think those ros_gz configurations are more like descriptions for each robot

Example structure:

• dave_robot_models
  • description
    • glider_slocum
      • model.sdf
      • ros_gz_bridge.py
    • rexrov
      • model.sdf
      • ros_gz_bridge.py

[woensug-choi]

This way, we don't need IfCondition and keep upload_robot.launch.py unchanged when adding new robots

[rakeshv24]

Sure that is a good idea. Let me try that out!

[rakeshv24]

@woensug-choi but how do we invoke those ros_gz_bridge.py files? Don't we still need to use the IfCondition for it?

[woensug-choi]

@rakeshv24 something like this?

    ros_gz_bridge = [IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            PathJoinSubstitution(
                [
                    FindPackageShare("dave_robot_models"),
                    "description",
                    namespace,
                    "ros_gz_bridge.py",
                ]
            )
        ),
    )]

[rakeshv24]

Sounds good!