[Citadel] Add all features to tpeplugin

[claireyywang]

This PR add all the features to tpeplugin and enables testing with example worlds. This PR should be merged after #45 (adds needed functions to tpelib) and #32 (implements Base and EntityManagementFeatures).

A few things need to be addressed by follow-up PRs

• Add collision detection
• Add a VelocityCmd to ign-gazebo/src/systems/physics/Physics.cc to enable setting world velocity without applying force to joint

So far, any models without joint should be able to transform pose with TPE.

To test with ignition gazebo

cd src/ign-gazebo
git checkout chapulina/tpe
cd ~/citadel_ws
colcon build --cmake-args -DBUILD_TESTING=OFF --merge-install --packages-up-to ignition-gazebo3
. ~/citadel_ws/install/setup.bash
ign gazebo -v 2 shapes.sdf --physics-engine ignition-physics-tpe-plugin

Terminal output

[GUI] [Wrn] [Application.cc:649] [QT] file::/ComponentInspector/ComponentInspector.qml:161: ReferenceError: ComponentsModel is not defined
construct model ground_plane
construct model box
construct model cylinder
construct model sphere
construct link link
construct link box_link
construct link cylinder_link
construct link sphere_link
construct collision collision
construct collision box_collision
construct collision cylinder_collision
construct collision sphere_collision

The shapes no longer collapse to origin after the commit 344f7f4 , and warnings are fixed by commit 01bf3de
Shapes can be moved around by using transform tools after commit ad391b3

Demo

I also tried with a couple other example worlds. See performance summary below:

• actor.sdf: loads fine, actors move, warns missing joint entity, can't transform pose
• apply_joint_force.sdf: loads fine, warns missing joint entity, can't transform pose
• breadcrumbs.sdf: loads fine, warns missing joint, can't transform pose
• camera_sensor.sdf: loads fine, sensor works, cube transforms pose, cone doesn’t and warns missing joint entity
• contact_sensor: loads fine, transforms pose, sensor works
• fuel.sdf: loads fine, warns missing joint entity, actor can move, can't transform pose
• tunnel.sdf: loads fine, warns missing joint entity, car transforms pose

[claireyywang]

I cleaned up the code a bit more. Ready for another round of review 🙇‍♀️

[iche033]

I made some very minor changes in f952393. I think the PR is good to go. Approve once the homebrew issue is fixed.

[claireyywang]

I made some very minor changes in f952393. I think the PR is good to go. Approve once the homebrew issue is fixed.

I think the homebrew issue was due to a Java bug on ultron.mojave. The CI was rebuilt on another machine and shows green now.

[claireyywang]

@chapulina mind taking another look since there are requested changes from you blocking merge? Thanks!

[chapulina]

Good job with the tests! I have some more comments below. Most are nitpicks, but I think it would be good to address others before merging.

clicked by mistake 😅

[chapulina]

🚢 it!