Multibeam Sonar Migration Template

[woensug-choi]

This is to fastforward the effort the migration of the Muiltibeam Sonar plugin.

Notion note related to this is at https://yeongdocat.notion.site/Multibeam-Sonar-Plugin-Migration-Memo-3a98b778e87a419b9adf32a88d78814c?pvs=4

Example Launch Command with ros_gz_bridge to translate gz msg to ROS msg

• This doesn't work as expected since the ros_gz_bridge is not updated for new sensors in new ros-gazebo pair yet

ros2 launch dave_multibeam_sonar_demo multibeam_sonar_demo.launch.py

Example Launch Command with dave_sensor.launch.py

ros2 launch dave_demos dave_sensor.launch.py namespace:=blueview_p900 world_name:=dave_multibeam_sonar paused:=false x:=4 z:=0.5 yaw:=3.14

Progress (Check date of the update, I am updating this as I progress)

• Copy and rename the generic dvl plugin of gazebo offical https://github.com/gazebosim/gz-sim/tree/gz-sim8/src/systems/dvl
• Sample world file including system plugin and the sensor plugin
  ros2 launch dave_demos dave_world.launch.py world_name:=dave_multibeam_sonar verbose:=true
• Launch system with sensor sample in empty world with objects
  ros2 launch dave_demos multibeam_sonar_standalone.launch.py x:=4.0 z:=0.5 Y:=3.14
• Insert codes of GPU Lidar to publish point cloud
• Rebase to recent DVL plugin PR
• Blueview model description sdf
• Add plugin to translate gz point cloud msg to ROS
  - RosGzPointCloud Not Loading gazebosim/ros_gz#549 (comment)
  - Something is very wrong when trying to view point cloud at current state
  - So many tutorials in ros_gz_sim_demo just doesn't work, but ros2 launch ros_gz_sim_demos gpu_lidar_bridge.launch.py works!
  - This uses GPULidar sensor. I would try remove all Acoustic Beam parts and hard insert GPU Lidar Code as it is to visualize point cloud correctly
• Add tag handles to read multibeam sonar parameters from SDF
• Construct a dataset to pipeline into CUDA code
• Insert CUDA code wrapper function
• Conditional CMAKE to check wether the machine has CUDA building and runtime library
• Add plugin to translate sonar image msg to ROS

Leftover

• The PointCloud GUI viewer inside Gazebo does not work. Not fully understood why
  • Point cloud visualization plugin gazebosim/gz-gui#346
  • Not sure what Float_V is for