Create e-puck2 driver

[lukicdarkoo]

Description
ROS2 e-puck2 driver for Webots should be created. The API should match to one implemented for epuck_ros2 (https://github.com/cyberbotics/epuck_ros2).

Tasks

• Support for camera (Image and CameraInfo).
• Add Odometry topic
• Support for LEDs.
• Add Twist topic.
• Add LaserScan topic.
• Add Imu topic.
• Publish corresponding transformations.
• Match LED API with epuck_ros2
• Add support for light sensors
• Add support for ground sensors if present
• Publish static transforms
  • ground sensors,
  • distance sensors,
  • light sensors and
  • laser scanner.
• Verify compatibility with epuck_ros2 API
• Verify everything in simulation
  • Odometry + Twist
  • Camera + CameraInfo
  • LaserScan + Range
  • Ground sensors
  • Light sensors
• Make gyroscope, ground sensors and ToF optional to keep backwards compatibility

[ghost]

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[lukicdarkoo]

@DavidMansolino Should we change a name from webots_ros2_epuck2 to webots_ros2_epuck?

[DavidMansolino]

@DavidMansolino Should we change a name from webots_ros2_epuck2 to webots_ros2_epuck?

That's a good idea indeed, but in that case, please make sure that it is working with the simulated e-puck 1 too (the controller should handle the missing devices such as ToF and Gyro).

[lukicdarkoo]

@DavidMansolino Should we change a name from webots_ros2_epuck2 to webots_ros2_epuck?

That's a good idea indeed, but in that case, please make sure that it is working with the simulated e-puck 1 too (the controller should handle the missing devices such as ToF and Gyro).

Well, gyro supposed to be available in e-puck1 as well according to documentation. It seems it misses in the model. Here is a comparison between e-puck1 and e-puck2:
https://www.gctronic.com/doc/index.php/e-puck2
in e-puck2 3D magnetometer is added. Btw, the magnetometer also seems to be missing in e-puck2 proto, maybe I should add. As well as the support for the sensor in the physical robot.

Anyway, it is a good idea to make everything optional to preserve backwards compatibility.

[DavidMansolino]

Note also that to make this code easily re-usable and make it more generic I would like that you create a WebotsDifferentialWheelNode (or any better name) that inherits from WebotsNode and is in the webots_ros2_core package and provides all the functionalities related to the odom publisher and cmd_vel subscriber (the EPuckDriver class will then inherit from this class).

This way it will be very simple to create new differential wheels robot nodes based on this excellent code you did. For example the webots_ros2_tiagocould use it.
But please don't do this in this PR as it is already very good and functional like this (and start to be quite big 😉).

[lukicdarkoo]

Note also that to make this code easily re-usable and make it more generic I would like that you create a WebotsDifferentialWheelNode (or any better name) that inherits from WebotsNode and is in the webots_ros2_core package and provides all the functionalities related to the odom publisher and cmd_vel subscriber (the EPuckDriver class will then inherit from this class).

This way it will be very simple to create new differential wheels robot nodes based on this excellent code you did. For example the webots_ros2_tiagocould use it.
But please don't do this in this PR as it is already very good and functional like this (and start to be quite big ).

I love the idea! I will do it! Gazebo is doing something similar (http://gazebosim.org/tutorials?tut=ros_gzplugins) but this could be a cleaner and more configurable approach.

[DavidMansolino]

Thank you.