[GSOC-51] DAVE worlds and respective launch files

[hmoyen]

This PR introduces two main features:

1. World files:

   • New DAVE world files compatible with new Gazebo Harmonic, but still without plugins.
   • Some textures and models were replaced, and now all worlds import models from Fuel.

2. ROS 2 Launch Files:

   • Launch files were added to dave_demos package, which call a world file in the dave_worlds package.

[woensug-choi]

@hmoyen Could we have more universal launch file using launch cobfigurationand arguments? examples are at examples/dave_demos/launch/model_in_empty_world.launch.py

also please append some readme yo examples/dave_demos/README about launching worlds.

[hmoyen]

@woensug-choi Sure! Will work on that

[hmoyen]

@woensug-choi Just added to the dave_demos README how to launch a world using a world_name argument

[woensug-choi]

Thank you for putting it all together. I've made modifications on it! Please check :) Also, could you make a ticket on Notion for issues at the bottom? We may not deal with it now but someday.

README

• changed to launch ocean_waves as the first command to try since integrated world takes too long to launch at start (taking long time to download model files)
  • ros2 launch dave_demos dave_world.launch.py world_name:=dave_ocean_waves
• Add description about downloading the files from https://app.gazebosim.org/

• Old sea surface removed (using brand new gazebo generic one)

Worlds

• Common Mods
  • Mod and remove tag mimicking https://github.com/gazebosim/docs/blob/master/harmonic/tutorials/sdf_worlds/world_demo.sdf and https://github.com/gazebosim/docs/blob/master/harmonic/tutorials/sensors/sensor_tutorial.sdf
  • Match world name
  • Format lint with XML formatter(default of VS Code)
  • Remove previous sea surface as we are adopting generic one
• dave_ocean_waves
  • removed ode tag since it was causing warning that is unnecessary
• dave_ocean_waves_transient_current
  • Kept. Need to add plugins later
• dave_ocean_waves_occluded_bottom
  • Changed name to dave_ocean_waves_mossy_ground
• dave_ocean_waves_dvl_current_profiling
  • Removed. Let's use dave_ocean_waves_transient_current and add dvl at the launch file with uploading the model there
• dave_ocean_models
  • Manually defined GUI so that we can set initial position of the camera (I couldn't figure out just defining camera pose without all other GUI settings)
• dave_new_bathy_example
  • it seems the Santorini_heightmap.tif have invalid coordinate system. (Could not open at https://app.geotiff.io/) The Volcano example of the gazebo (the volcano.tif at https://app.gazebosim.org/jennuine/fuel/models/Volcano) does load correctly at https://app.geotiff.io/
  • Removed the world hope we have time to investigate. Otherwise not including it.
• dave_mud_occlusion_demo
  • Just removing it. seems to complex problem to GSoC
• dave_graded_seabed
  • Removed BOP Panel
  • Rotated Heightmap and Changed light that equal to dave_ocean_waves
• dave_electrical_mating
  • Adjusted positions and camera view angle
• dave_bimanual_example
  • Reposition, add heightmap
• dave_plug_and_socket_demo
  • renamed to dave_plug_and_socket
  • Reposition, add heightmap
• valve_manipulation
  • Removing it for now. (didn't see any useful models being loaded)
• dave_Santorini
  • Rename to dave_santorini(small letters only)
  • Reposition and camera view angle set
• dave_integrated
  • reposition and camera view angle set

Issues

• Plugin sdf warning
  • Warning [Utils.cc:132] [/sdf/plugin[@name="gz::sim::systems::ShaderParam"]:<data-string>:L1]: XML Element[plugin], child of element[sdf], not defined in SDF. Copying[plugin] as children of [sdf] when loading the models.
• Better texture for default height map
  • Could we use https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ocean Floor Texture (we can download files and apply and re-upload our heightmap)
• Turbidity
  • https://app.gazebosim.org/mabelzhang/fuel/worlds/Multi-LRAUV%20Swimming%20Race
• Recognizing coordiates of the GeoTiff
  • Santorini_heightmap.tif have invalid coordinate system. (Could not open at https://app.geotiff.io/) Gazebo complained about coordinate frame transformation. The Volcano example of the gazebo (the volcano.tif at https://app.gazebosim.org/jennuine/fuel/models/Volcano) does load correctly at https://app.geotiff.io/ and in Gazebo too.