BlueROV2 Models

[rakeshv24]

This PR introduces the following changes:

1. Inclusion of BlueROV2 models with the necessary plugins.
2. Addition of the underwater camera plugin to all robot models.
3. Creation of a robot_config.py file for each robot to configure ros_gz_bridge and launch any other dependencies alongside it.

• Launching BlueROV2 in dave_ocean_waves.world:

colcon build && source install/setup.bash

ros2 launch dave_demos dave_robot.launch.py z:=-5 namespace:=bluerov2 world_name:=dave_ocean_waves paused:=false

• Launching BlueROV2 Heavy in dave_ocean_waves.world:

colcon build && source install/setup.bash

ros2 launch dave_demos dave_robot.launch.py z:=-5 namespace:=bluerov2_heavy world_name:=dave_ocean_waves paused:=false

[woensug-choi]

@rakeshv24

• I see axis arrow on the BlueROV2 Heavy. Quick fix would be lowering the position of the camera?
• I thought by setting the <clip> 10 meter max would not show the sky in the camera but it does. Can we solve this? (pessimistic)

[rakeshv24]

@woensug-choi

1. The axes will be visible with any robot model because it is included as an element in the world file ( https://fuel.gazebosim.org/1.0/hmoyen/models/North East Down frame). I think the better solution would be to remove it from the world files. What are your thoughts on this?
2. The clipping functionality works as intended. Below are a few examples with the camera pitched down:

• with far clipping of 10m:
  

• with far clipping of 100m:
  

[woensug-choi]

@rakeshv24 Goooood to go! I've made update on Wiki Documents.