GPS behavior support

[pariaspe]

Basic Info

Info	Please fill out this column
Issue(s) this addresses	#71
ROS2 version tested on	Humble
Aerial platform tested on	-

---

Description of contribution in a few bullet points

• [state_estimator] Origin srvs added to state_estimator external_odom plugin
• [as2_names] Added default get and set origin srvs
• [as2_core] Added missing dependency geographiclib
• [as2_python_api] Origin in gps module
• [as2_python_api] Fixed goto and follow path for gps
• [as2_python_api] new gps tests
• [as2_python_api] new dependency pymap3d

---

Future work that may be required in bullet points

• Refactor state estimator to move out origin srvs to the as2 node
• Review if new dependency (pymap3d) is really needed or can be changed with a lighter one

[pariaspe]

CI fails while building as2_core. GeographicLib not found.

  CMake Error at CMakeLists.txt:42 (find_package):
    By not providing "FindGeographicLib.cmake" in CMAKE_MODULE_PATH this
    project has asked CMake to find a package configuration file provided by
    "GeographicLib", but CMake did not find one.
  
    Could not find a package configuration file provided by "GeographicLib"
    with any of the following names:
  
      GeographicLibConfig.cmake
      geographiclib-config.cmake
  
    Add the installation prefix of "GeographicLib" to CMAKE_PREFIX_PATH or set
    "GeographicLib_DIR" to a directory containing one of the above files.  If
    "GeographicLib" provides a separate development package or SDK, be sure it
    has been installed.

Package is included in as2_core package.xml as it appears in the ROS Index.

The problem is also explained in here and can be fixed doing manually a symbolic link to the actual location of the cmake file.

sudo ln -s /usr/share/cmake/geographiclib/FindGeographicLib.cmake /usr/share/cmake-*/Modules/
sudo ln -s /usr/share/cmake/geographiclib/FindGeographicLib.cmake /usr/local/share/cmake-*/Modules/

Any idea @miferco97 @RPS98 @perezsaura-david ?

[codecov-commenter]

Codecov Report

Merging #134 (f0a2e33) into main (9e3beb3) will increase coverage by 0.03%.
The diff coverage is 4.16%.

❗ Current head f0a2e33 differs from pull request most recent head 4328840. Consider uploading reports for the commit 4328840 to get more accurate results

@@           Coverage Diff            @@
##            main    #134      +/-   ##
========================================
+ Coverage   4.95%   4.98%   +0.03%     
========================================
  Files         93      93              
  Lines       4626    4730     +104     
  Branches     499     524      +25     
========================================
+ Hits         229     236       +7     
- Misses      4211    4281      +70     
- Partials     186     213      +27     

Flag	Coverage Δ
unittests	4.98% <4.16%> (+0.03%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Impacted Files	Coverage Δ
as2_core/src/platform_state_machine.cpp	45.33% <0.00%> (-7.80%)	⬇️
...imator/include/as2_state_estimator/plugin_base.hpp	19.23% <ø> (ø)
...or/plugins/external_odom/include/external_odom.hpp	0.00% <0.00%> (ø)
as2_core/tests/platform_state_machine_test.cpp	14.28% <66.66%> (ø)
as2_core/src/utils/tf_utils.cpp	19.00% <0.00%> (-0.39%)	⬇️
as2_core/src/aerial_platform.cpp	0.00% <0.00%> (ø)
as2_core/src/utils/yaml_utils.cpp	0.00% <0.00%> (ø)
as2_controller/src/controller_handler.cpp	0.00% <0.00%> (ø)
... and 15 more

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