AP_DDS: Support similar interface to MAVLink gimbal API for state reporting and control

[Ryanf55]

Feature request

Is your feature request related to a problem? Please describe. Publish the gimbal orientation(s) and attitude. Add the transform from the vehicle origin to the gimbal frame in the TF tree.

Describe the solution you'd like

• Publish the orientation for each gimbal in either body or world frame
• Add an example to ardupilot GZ with two gimbals

Describe alternatives you've considered N/A Platform [ x] All [ ] AntennaTracker [ ] Copter [ ] Plane [ ] Rover [ ] Submarine

Additional context N//A

[srmainwaring]

@Ryanf55 - I can take a look at this as a follow on to the work I've been doing with Asif on his 2024 GSoC camera follow project. We'd really want more than just the attitude, it would be nice to have DDS control over the cameras and gimbals analagous to the MAVLink interface. It might allow for a higher control rate in tracking etc. than we get with MAVLink messaging.

[Ryanf55]

Excellent! Feel free to propose some message definitions and architecture before you get to coding if you want me to take a look.