Add support for GpuRays (lidar) visibility mask

[iche033]

Signed-off-by: Ian Chen ichen@osrfoundation.org

🎉 New feature

Summary

Sets the visibility mask to GpuRays sensor. A visual will be visible to the sensor if (sensor's visibility mask & visual's visibility flags) evaluates to non-zeo. This is useful for omitting certain visuals from lidar returns, e.g. water plane.

Test it

Run the INTEGRATION_gpu_rays test.

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.

[mjcarroll]

LGTM with green CI

[codecov]

Codecov Report

Merging #625 (d32ecb8) into ign-rendering6 (bb57d85) will not change coverage.
The diff coverage is n/a.

@@               Coverage Diff               @@
##           ign-rendering6     #625   +/-   ##
===============================================
  Coverage           80.00%   80.00%           
===============================================
  Files                   1        1           
  Lines                  15       15           
===============================================
  Hits                   12       12           
  Misses                  3        3           

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[ahcorde]

Some minor style comments, otherwise LGTM