[GSOC-67] Migration of USBL plugins

[hmoyen]

This PR introduces three main features:

1. USBL Plugins:

   • Transceiver Plugin: Compatible with ROS 2 and Harmonic.
   • Transponder Plugin: Compatible with ROS 2 and Harmonic.

2. Tutorial World:

   • Added usbl_tutorial.world to demonstrate the usage of the new USBL plugins.

3. World Launch File:

   • Included a verbose argument to enable monitoring of the plugin's Gazebo messages.

Documentation on how to use the plugin is here: Documentation

[hmoyen]

@woensug-choi The pre-commit seems to be failing due to /usr/bin/env: ament_cppcheck: No such file or directory and Executable ament_cpplint not found . I am not so familiar with pre-commit, but could it be some configuration that is missing in github workflows?

[woensug-choi]

Try

pip3 install pre-commit && pre-commit install && pre-commit run --all-files

oh.. didn't work on my side too. I may caued this. ignore it for now

[woensug-choi]

@hmoyen

• Wouldn't setting the channel mean individual mode? Is is correct that when channel is fixed to one transponder ros2 topic pub --once /USBL/transceiver_manufacturer_168/channel_switch std_msgs/String "data: '1'" will implicitly mean that the user is using individual mode? Initiated at common mode and setting channel_switch to `data: '1' still printed every transponder data.

• If having individual mode, then the transceiver should be able to recognize different transponder signals? If so, shouldn't we need to add transponder name on transponder_location msg?

[hmoyen]

@woensug-choi here are the changes made:

• Location.msg was created to include transponder_id in the location topic messages.
• If attempting to use the individual ping topic without being in individual mode, it won't respond. Gazebo will indicate that individual mode isn't set.
• Requesting a channel switch automatically changes the mode to individual.

[woensug-choi]

ros2 topic echo /USBL/transceiver_manufacturer_168/transponder_location

returned

The message type 'dave_interfaces/msg/Location' is invalid

[hmoyen]

@woensug-choi It used to happen for me too when I did not source install/setup.bash (dave's workspace) in the current terminal.