Camera: add camera zoom plugin

- fix gimbal test world
- add example world for gimbal and camera
- add gimbal_small_3d
- update command topic names in gimbal test world
- update quote style in gimbal_small_3d
- rename zoom plugin and attach to sensor
- resolve parent model and subscribe to zoom command
- implement zoom for standard camera
- remove whitespace for linter
- provide alternative to gz::sim::Sensor
- handle RenderTeardown event to exit cleanly
- find package gz-common5
- use degrees for pose in gimbal world
- format plugin attributes.

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>

CMakeLists.txt

@@ -22,6 +22,12 @@ if("$ENV{GZ_VERSION}" STREQUAL "harmonic")
   find_package(gz-cmake3 REQUIRED)
   set(GZ_CMAKE_VER ${gz-cmake3_VERSION_MAJOR})
 
+  gz_find_package(gz-common5 REQUIRED)
+  set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
+
+  gz_find_package(gz-rendering8 REQUIRED)
+  set(GZ_RENDERING_VER ${gz-rendering8_VERSION_MAJOR})
+
   gz_find_package(gz-sim8 REQUIRED)
   set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
 
@@ -31,6 +37,12 @@ elseif("$ENV{GZ_VERSION}" STREQUAL "garden" OR NOT DEFINED "ENV{GZ_VERSION}")
   find_package(gz-cmake3 REQUIRED)
   set(GZ_CMAKE_VER ${gz-cmake3_VERSION_MAJOR})
 
+  gz_find_package(gz-common5 REQUIRED)
+  set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
+
+  gz_find_package(gz-rendering7 REQUIRED)
+  set(GZ_RENDERING_VER ${gz-rendering7_VERSION_MAJOR})
+
   gz_find_package(gz-sim7 REQUIRED)
   set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
 
@@ -70,13 +82,27 @@ target_link_libraries(ParachutePlugin PRIVATE
   gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
 )
 
+add_library(CameraZoomPlugin
+  SHARED
+  src/CameraZoomPlugin.cc
+)
+target_include_directories(CameraZoomPlugin PRIVATE
+  include
+)
+target_link_libraries(CameraZoomPlugin PRIVATE
+  gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
+  gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER}
+  gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
+)
+
 # --------------------------------------------------------------------------- #
 # Install.
 
 install(
   TARGETS
   ArduPilotPlugin
   ParachutePlugin
+  CameraZoomPlugin
   DESTINATION lib/${PROJECT_NAME}
 )
 

include/CameraZoomPlugin.hh

@@ -0,0 +1,67 @@
+/*
+   Copyright (C) 2023 ArduPilot.org
+
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#ifndef CAMERAZOOMPLUGIN_HH_
+#define CAMERAZOOMPLUGIN_HH_
+
+#include <memory>
+
+#include <gz/sim/System.hh>
+
+namespace gz {
+namespace sim {
+inline namespace GZ_SIM_VERSION_NAMESPACE {
+namespace systems {
+
+/// \brief Camera zoom plugin.
+class CameraZoomPlugin :
+    public System,
+    public ISystemConfigure,
+    public ISystemPreUpdate,
+    public ISystemPostUpdate
+{
+  /// \brief Destructor
+  public: virtual ~CameraZoomPlugin();
+
+  /// \brief Constructor
+  public: CameraZoomPlugin();
+
+  // Documentation inherited
+  public: void PreUpdate(const gz::sim::UpdateInfo &_info,
+                         gz::sim::EntityComponentManager &_ecm) final;
+
+  // Documentation inherited
+  public: void PostUpdate(const gz::sim::UpdateInfo &_info,
+                         const gz::sim::EntityComponentManager &_ecm) final;
+
+  // Documentation inherited
+  public: void Configure(const Entity &_entity,
+                         const std::shared_ptr<const sdf::Element> &_sdf,
+                         EntityComponentManager &_ecm,
+                         EventManager &) final;
+
+  /// \internal
+  /// \brief Private implementation
+  private: class Impl;
+  private: std::unique_ptr<Impl> impl;
+};
+
+}  // namespace systems
+}
+}  // namespace sim
+}  // namespace gz
+
+#endif  // CAMERAZOOMPLUGIN_HH_