Ocean Current Plugin

[GauravKumar9920]

This PR introduces the addition of Ocean Current plugin to the Dave project. Link to the Documentation - Here's a checklist for the migration of ocean current plugin and it's features :

• [x] Migration of basic framework for ocean_current_plugin.
• [x] Migration of basic framework for ocean_current_world_plugin.
• [x] Migration of basic framework for ocean_current_model_plugin.
• [x] read and add the csv data file for transientOceanCurrentDatabase.csv and ACT1951_1_Annual_2021.csv in the ocean_current_world_plugin.
• [x] Add service, proto and msg files to Dave interfaces and added usage in their respective plugins.
• [x] Add Tidal Oscillations and Gauss-Markov Process
• [x] Updated code for shared data access between ocean_current_plugin and ocean_current_world_plugin(sharedDataPtr).
• [x] Bug fixes and minor modifications.
• [x] make model SDF and world files for the launch of respective plugins.
• [ ] Testing
• [ ] Apply force to the models in ocean_current_model_plugin.
• [ ] Testing for multi-Model ocean current Behavior.
• [ ] Final Wrap-ups !!

[woensug-choi]

@GauravKumar9920 At https://github.com/IOES-Lab/dave/pull/18/commits/c449d635262b986d1866af5020c5546f84edf0cb,

1. Moved proto/dave_gz_world_plugins_msgs/msgs to dave_gz_world_plugins instead of dave_interfaces
   • moved .proto file and part of CMakeLists.txt to make proto msg
2. Added dave_gz_world_plugins-msgs to target_link_libraries
   • here, the -msgs at the end of dave_gz_world_plugins is set as msgs because we've set TARGET as msgs at gz_msgs_generate_mssages? (didn't double check, but this is how I understood)
   • Added dave_gz_world_plugins-msgs to install target list

To-test

ros2 launch dave_robot_launch robot_in_world.launch.py z:=-5 namespace:=rexrov world_name:=ocp paused:=false

Problem from now

• Warning(error?) msg when running the above launch command

  [ruby $(which gz) sim-1] Node::Publisher::Publish() Type mismatch.
  [ruby $(which gz) sim-1]    * Type advertised: dave_gz_world_plugins_msgs.msgs.StratifiedCurrentVelocity
  [ruby $(which gz) sim-1]    * Type published: gz.msgs.Vector3d