Backport #1748: Adds a tool for environment data visualization and custom environmental sensors

[arjo129]

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🎉 New feature

Closes #

Summary

This PR adds a tool to visualize Scalar Environmental Data. It also adds custom sensors. It is a backport of #1748

Signed-off-by: Arjo Chakravarty arjo@openrobotics.org

Test it

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• 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 and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[codecov]

Codecov Report

Merging #1798 (fae0438) into gz-sim7 (2d19f93) will increase coverage by 0.20%.
The diff coverage is 81.08%.

@@             Coverage Diff             @@
##           gz-sim7    #1798      +/-   ##
===========================================
+ Coverage    64.26%   64.47%   +0.20%     
===========================================
  Files          340      341       +1     
  Lines        26962    27187     +225     
===========================================
+ Hits         17328    17529     +201     
- Misses        9634     9658      +24     

Impacted Files	Coverage Δ
include/gz/sim/Util.hh	100.00% <ø> (ø)
include/gz/sim/components/Environment.hh	100.00% <ø> (ø)
src/Util.cc	91.94% <70.58%> (-1.15%)	⬇️
.../systems/environment_preload/EnvironmentPreload.cc	69.69% <75.00%> (-1.22%)	⬇️
...nmental_sensor_system/EnvironmentalSensorSystem.cc	82.75% <82.75%> (ø)
src/components/Environment.cc	100.00% <100.00%> (ø)
src/SdfEntityCreator.cc	86.44% <0.00%> (+0.88%)	⬆️
src/systems/acoustic_comms/AcousticComms.cc	98.13% <0.00%> (+3.01%)	⬆️

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[hidmic]

LGTM, just like #1748. Jenkins CI seems broken though.

[arjo129]

https://build.osrfoundation.org/job/ignition_gazebo-ci-pr_any-ubuntu_auto-amd64/9909/ failing because of warnings triggered by code generated by Qt's moc. I don't think theres much I can do. Also I'm trying to understand the ABI checker I think the issue is we merged #1616, before merging this PR in. I don't know if we released #1616, but if we have then we are ☠️ . I made some changes to the environmental data component so that we could use it.

[hidmic]

@arjo129 hmm, I think we can still solve those issues (or they will come back to hunt us in the future).

On Windows, it looks like we have visibility issues.

error LNK2001: unresolved external symbol "class std::optional<class gz::math::v7::Vector3<double> > __cdecl gz::sim::v7::getGridFieldCoordinates(class gz::sim::v7::EntityComponentManager const &,class gz::math::v7::Vector3<double> const &,class std::shared_ptr<struct gz::sim::v7::components::EnvironmentalData> const &)" (?getGridFieldCoordinates@v7@sim@gz@@YA?AV?$optional@V?$Vector3@N@v7@math@gz@@@std@@AEBVEntityComponentManager@123@AEBV?$Vector3@N@1math@3@AEBV?$shared_ptr@UEnvironmentalData@components@v7@sim@gz@@@5@@Z) [C:\Jenkins\workspace\ign_gazebo-pr-win\ws\build\gz-sim7\src\gui\plugins\environment_visualization\EnvironmentVisualization.vcxproj]

Namely, getGridFieldCoordinates is missing a GZ_SIM_VISIBLE attribute.

On Ubuntu, I suspect that it is the use of the Q_PROPERTY(... MEMBER ...) form that is triggering bad code generation within the MOC. It is the first instance of this form I see in the codebase.

And while the ABI checker output is pretty much useless, I suspect it takes issue with the changes to the EnvironmentalData struct, none of which are ABI compatible even if API compatible.

[arjo129]

Test failures are now unrelated. This does break ABI of the nightly, but since we have yet to release it should not be a problem. Going to merge.