Surface vehicle (ASV)

[woensug-choi]

Similar to the multiple vehicle support (https://github.com/Field-Robotics-Lab/glider_hybrid_whoi/pull/31), ASV is included in this PR.

Changelog

• Launch and description files for ASV
  • start_demo_kinematics_stratified_current_with_asv.launch (includes both glider and asv)
  • upload_glider_asv_kinematics.launch
  • glider_asv_default_kinematics.urdf.xacro
  • glider_asv_base_kinematics.xacro
• New test python commanding script
  • test_directKinematics_ASV.py
• DirectKinematicsROSPlugin
  • New bool parameter is added '' https://github.com/Field-Robotics-Lab/glider_hybrid_whoi/blob/2b15a027144b6e9201e39f40b49c4e7d80643301/glider_hybrid_whoi_description/urdf/glider_asv_base_kinematics.xacro#L81
  • New code block is added to keep the surface vehicle on the surface
• Surface vehicle model
  • The surface component of the wave glider is included
  • 

Notes

• This PR is left as a draft for now. Needs check on followings
  • Commanding with UwGliderCommands needs to be tested for ASV (looks strange)
  • Strange stoi error appears randomly once in a while. stoi is only used for changing the date into datenum. The randomness of the error does not make sense since the translation is performed continuously.

[woensug-choi]

Commanding and status receiving checked with tidal_oscillation turned off (tidal_oscillation is under debugging process for stoi error msg)