Add support for gz.msgs.EntityWrench (base branch: ros2)

[Vtn21]

🎉 New feature

Closes #566

Also replaces PR #572, now retargeted to the ros2 branch.

Summary

Adds the new ros_gz_interfaces/msg/EntityWrench, with structure compatible with gz.msgs.EntityWrench. This enables the user to apply wrenches to Gazebo entities using ROS topics.

Also implements the ros_gz_bridge mapping between ros_gz_interfaces/msg/EntityWrench and gz.msgs.EntityWrench.

Test it

Manual testing involves spawning any entity in Gazebo and loading the gz::sim::systems::ApplyLinkWrench plugin to the world SDF. Then, call the ros_gz_bridge to expose the entity wrench topic as follows (YAML syntax):

- topic_name: "/world/<world_name>/wrench"
  ros_type_name: "ros_gz_interfaces/msg/EntityWrench"
  gz_type_name: "gz.msgs.EntityWrench"

Checklist

• [x] Signed all commits for DCO
• [x] Added tests
• [ ] Added example and/or tutorial
• [x] Updated documentation (as needed)
• [ ] Updated migration guide (as needed)
• [x] Consider updating Python bindings (if the library has them)
• [x] codecheck passed (See contributing)
• [x] All tests passed (See test coverage)
• [ ] While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[ahcorde]

https://github.com/Mergifyio backport jazzy humble iron

[mergify[bot]]

backport jazzy humble iron

✅ Backports have been created

* [#574 Add support for gz.msgs.EntityWrench (base branch: ros2) (backport #573)](https://github.com/gazebosim/ros_gz/pull/574) has been created for branch `jazzy` * [#575 Add support for gz.msgs.EntityWrench (base branch: ros2) (backport #573)](https://github.com/gazebosim/ros_gz/pull/575) has been created for branch `humble` but encountered conflicts * [#576 Add support for gz.msgs.EntityWrench (base branch: ros2) (backport #573)](https://github.com/gazebosim/ros_gz/pull/576) has been created for branch `iron` but encountered conflicts