Ocean Current Plugin

[GauravKumar9920]

This PR introduces the addition of Ocean Current plugin to the Dave project.
Link to the Documentation -
Here's a checklist for the migration of ocean current plugin and it's features :

• Migration of basic framework for ocean_current_plugin.
• Migration of basic framework for ocean_current_world_plugin.
• Migration of basic framework for ocean_current_model_plugin.
• read and add the csv data file for transientOceanCurrentDatabase.csv and ACT1951_1_Annual_2021.csv in the ocean_current_world_plugin.
• Add service, proto and msg files to Dave interfaces and added usage in their respective plugins.
• Add Tidal Oscillations and Gauss-Markov Process
• Updated code for shared data access between ocean_current_plugin and ocean_current_world_plugin(sharedDataPtr).
• Bug fixes and minor modifications.
• make model SDF and world files for the launch of respective plugins.
• Testing
• Apply force to the models in ocean_current_model_plugin.
• Testing for multi-Model ocean current Behavior.
• Final Wrap-ups !!

[woensug-choi]

@GauravKumar9920 Hurray! Could you write up the document at notion too?! so that I can give it a spin.

[GauravKumar9920]

Hii @woensug-choi , I will get done with the documentation first thing tomorrow : )
Also for some reason, the code was working perfectly, it was publishing all the data correctly, I checked for the OCWP and OCP, then I made the commit, "Ocp ocean current working : )" and pushed, soon after getting back to working on with it, it had some issues with it not being able to get the message types Failed to load class: dave_interfaces/msg/StratifiedCurrentDatabase TopicInfo.__init__(): topic "/hydrodynamics/stratified_current_velocity_database": can not get message class for type "dave_interfaces/msg/StratifiedCurrentDatabase", I will check and put it here if I get a fix.

[woensug-choi]

@GauravKumar9920 So much to test! I didn't go all the way through, but as far as I went, it all looked very fine! This PR may merged!

Here's new stratified ocean current demo capture I've took.

Just note,
Didn't the original ocean current plugin applied the subscribed velocity as the velocity to the vehicle? Now it's converting to force! (which seems more physical, but can't tell whether this is robust or not yet) Thank you!

[GauravKumar9920]

@woensug-choi you're right, the previous ocean current plugin used to apply the subscribed velocity as the velocity to the vehicle !!. But the force resulting from velocity was handled by underwater_object_ros_plugin which further used to interact with the hydrodynamics plugin to apply forces. In the new plugin the Hydrodynamics Plugin alone handles the tasks which were previously done by underwater_object_ros_plugin.

Yes you're right about the plugin being too physical, I'm guessing maybe we need add mass and some other relevant values to the hydrodynamics plugin for it to act more redundantly(in the original plugin they were added in the sdf file under underwater_object_ros_plugin but now it's all under hydrodynamics plugin)