Add DopplerVelocityLog sensor

[hidmic]

🎉 New feature

Summary

This patch adds a DVL sensor, implemented as a custom rendering sensor. Needs gazebosim/gz-msgs#317.

Test it

TBD

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.

[hidmic]

First iteration. Once we've agreed on gazebosim/gz-msgs#317, I'll add integration tests here.

[arjo129]

Just did a quick first pass. I wonder if we should simply point Environment.hh in gz-sim7 to here. Perhaps also move the utility function. Alternatively, you could just continue using DVLs as a custom sensor and not open a PR here.

[arjo129]

CI and codecheck are still not happy. Once they are happy this looks good to me.

[hidmic]

CI and codecheck are still not happy. Once they are happy this looks good to me.

Done with codecheck, but for CI we'll need to merge and release gazebosim/gz-msgs#317 first.

[mjcarroll]

@hidmic Go ahead and bump the find_package call to require gz-msgs 9.2.0

[codecov]

Codecov Report

Merging #290 (8301678) into gz-sensors7 (ea7d33a) will increase coverage by 2.46%.
The diff coverage is 81.79%.

❗ Current head 8301678 differs from pull request most recent head 5643130. Consider uploading reports for the commit 5643130 to get more accurate results

@@               Coverage Diff               @@
##           gz-sensors7     #290      +/-   ##
===============================================
+ Coverage        69.19%   71.66%   +2.46%     
===============================================
  Files               35       37       +2     
  Lines             3753     4665     +912     
===============================================
+ Hits              2597     3343     +746     
- Misses            1156     1322     +166     

Impacted Files	Coverage Δ
src/DopplerVelocityLog.cc	81.65% <81.65%> (ø)
src/EnvironmentalData.cc	100.00% <100.00%> (ø)

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[hidmic]

https://github.com/gazebosim/gz-sensors/actions/runs/3623412682/jobs/6109243959 is failing on all integration tests for rendering sensors, incl. the DVL. Any ideas @mjcarroll @caguero ?

[j-rivero]

ign_sensors-pr-win Pending — deploying to build.osrfoundation.org

I've resurrected this one.

[hidmic]

Alright, I understand rendering sensors tests are expected to fail on Jammy and Windows. CC @iche033 @mjcarroll just in case.

@arjo129 @caguero this is ready for a final review.

[adityapande-1995]

Looks good to me, just that INTEGRATION_dvl is segfaulting on jammy, but so are the camera tests.

[mjcarroll]

Looks good to me, just that INTEGRATION_dvl is segfaulting on jammy, but so are the camera tests.

Michel and I spoke about this earlier today, I think that all rendering tests are having issues in actions/jammy CI at the moment.

[hidmic]

Alright, thanks @adityapande-1995 ! Going in.

[hidmic]

@arjo129 this PR cannot be merged until you approve or dismiss your earlier review.

Should be all good

[hidmic]

@caguero may I ask you to release gz-sensors7? We'll need that for CI in gazebosim/gz-sim#1804 to pass.