Build gazebo9 with dart from source

[jacknlliu]

Why Gazebo 9 with dart

We need force control with more easier settings:

• gravity compensation plugin in gazebo, or we will write a new ROS controller with gravity compensation for gazebo velocity control and force control, as Space Robotics Challenge Finals - gazebo blog and JenniferBuehler/joint-control-pkgs mentioned. It makes up for the current shortage of ros control, see here.
• An alternative physics engine for Mujoco for contact rich tasks simulation, see DartEnv/dart-env and Atlas robot with dart in gazebo, roboschool other environments. Dart has some same key features with Mujoco, see here.

Reference

• Build gazebo from source with Optional Physics Engines
• roboschool other environments
• OpenAI-Gym-Environments with DART
• dartsim/dart
• dartpy
• pydart2
• Atlas robot with dart in gazebo
• Mass Compensation for Gravity-less Arms (ros ticket #267) #45
• Build gravity compensation mechanism into PR2 Gazebo model (ros ticket #52) #8

[jacknlliu]

libdart6-dev conflicts with ROS moveit and moveit kinematics plugins, because of the version of library libfcl-dev. So we can't install DART with ROS Moveit.

[jacknlliu]

The Dockerfile for this has been done, please see here. You should build this locally not the docker hub because of the limit of docker hub.