Add crazyflie webots packages

[knmcguire]

Description
This adds the Crazyflie to the ROS2 distribution of webots

Related Issues
This will mostly fix an external issue namely bitcraze/crazyflie-simulation#49

Affected Packages
None, it will just add a new one namely webots_ros2_crazyflie

Tasks
These are still remaining tasks or mostly questions before the pull request can be considered mergable

• Documentation, adding some kind of tutorial.
• Make launch file for a more complete example (teleop, mapping, rviz)

Update: The tutorial will be done on the ROS documentation once the binary is available. The more complex example will be added later

Additional context
Here are some questions for those reviewing this PR

• Documentation, is indeed this in the wiki or not? Or is it okay if we make a tutorial on our on our own website?
• I'd like to show this working with the simple_mapper but the standard map_size is too small. Perhaps I can add that as a seperate PR to make this determine on a parameter, and add an update to this package afterwards.

[omichel]

Sorry for my late answer, I missed your post on Discord.

That's perfectly fine if you make a tutorial on your own website. However, I would recommend making a tutorial directly on the official ROS 2 documentation as it will have a much better impact. Maybe you could create a subsection in this section: https://docs.ros.org/en/iron/Tutorials/Advanced/Simulators/Webots/Simulation-Webots.html (do you see the "Edit on GitHub" link?).

It is OK to make a more complete example later on. However, this PR should be self-sufficient, e.g., it should provide something useful to the user, without any missing component. But I believe it is the case, isn't it?

[knmcguire]

No worries :) there is not a hurry on it and I see I need to fix quite a lot of CI issues anyway.

Ah yes that might an even better option to add it to ROS documentation. I was looking for an alternative for the wiki on the github repo that now currently exist but is a bit invisible.

The current example is already useful in the way that it is controllable by teleop twist and it outputs scans and a transform. for the more complex example that I wanted to include already is to connect this to the simple mapper that was made for the epuck, but I hit some issues with that along the way when I tried to combine the two. But perhaps this is already a big enough PR as is and I can contribute the complex example later.

I'll fix the CI issues next week and mark it as ready for review then.

[knmcguire]

Ah seems like the CI's pass now after a rerun, except for one on which both develop and master is failing on themselves, but that doesn't have anything to do with my PR.

I'll mark it ready for review now!

[omichel]

Thank you!
It looks very good to me.
I only have a few minor comments.

[knmcguire]

Just a small thing that I noticed. Current the crazyflie's position is at approx (-5,-3) meters but I notice when I reset the simulator, the crazyflie is at (0,0), so a full reload is required. This seems to happen with webots without any involvement of ROS already... I'll see if I can investigate what is going on and report it for webots as an issue

[omichel]

Thank you!

[knmcguire]

Thanks! I'll merge. I've made an issue for the webots issue I've mentioned before: cyberbotics/webots#6467

Also depended on when the package is released I'll make a tutorial in ROS documentation.