ardupilot_ros: enable robot model and add odometry to rviz

[srmainwaring]

Enhancements to the cartographer.launch.py example to display the robot model and odometry overlaid onto the map generated by cartographer.

Dependencies

• https://github.com/ArduPilot/ardupilot_gz/pull/32

Related

• https://github.com/ArduPilot/ardupilot_gazebo/pull/65

Details

• Update package exec dependencies
• Update cartographer config to use_odometry
• Set SDF_PATH so robot state publisher can load sdformat_urdf plugin
• Add robot model and odometry to rviz
• Update camera view and window size in rviz config

Testing

Figure: rviz session loaded by cartographer.launch.py showing robot model and odometry displays.

Run the maze launch file with rviz and /gz/tf relay disabled:

$ ros2 launch ardupilot_gz_bringup iris_maze.launch.py rviz:=False use_gz_tf:=False

Run the cartographer launch:

ros2 launch ardupilot_ros cartographer.launch.py

Figure: initial pose in Gazebo

Figure: initial pose in rviz

[Ryanf55]

I'll trust Pedro on this, no time for me to test, but we'll merge. Thanks for the contribution!