Extend odom publisher to allow 3D

[blakermchale]

Signed-off-by: Blake McHale [email protected]

🎉 New feature

Closes #934 and replaces #941.

Summary

This adds in a new tag <dimensions> to the odometry publisher plugin that accepts either 2 or 3 (defaults to 2). When the value is 3 it assumes a 3D assumption instead of planar. This is useful for people who want to know the z location and angular rates. In my use case, I was using the multicopter plugin with the X3 model.

Test it

This feature can be tested by running the INTEGRATION_odometry_publisher test or adding the tag to the plugin in an SDF file. I tested this manually and echoed the odometry topic while commanding the multicopter with velocities.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• 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

[blakermchale]

@chapulina @vatanaksoytezer This is exactly the same PR as before, but based off a different branch with a cleaner commit history. I made all the requested modifications from the other PR. Thanks for helping me out and let me know if there's anything else I should change!

[chapulina]

Thanks for iterating, @blakermchale ! LGTM. I pushed 879eda3 adding the odometry plugin to an example world so people have a reference for how to use it.

[vatanaksoytezer]

@chapulina thanks a ton for to review 🥳 . When should we expect this to get this synced on Fortress and then released? We want to use Fortress binaries in projects but this was the main feature that was forcing us to use Edifice from source.

[chapulina]

When should we expect this to get this synced on Fortress and then released?

I'm going to work on it soon, if all goes well I think we can have this in Fortress by the end of the week.

[vatanaksoytezer]

That's fast 🏁, thanks @chapulina !

[chapulina]

When should we expect this to get this synced on Fortress and then released?

Btw, it took a bit longer, but this is released into 5.3 (Edifice) and 6.2 (Fortress).

[vatanaksoytezer]

Btw, it took a bit longer, but this is released into 5.3 (Edifice) and 6.2 (Fortress).

Awesome thanks for letting me know and releasing this, I'll update my Ignition binaries!