add markers, ackermann steering vehicles now use seperate motion function and final target yaw

[ddengster]

Signed-off-by: ddengster ed.fan@osrfoundation.org

Bug fix/Added Feature

Fixed bug

• Using the previous compute_ds function with a smaller s_target (about 15) would result in a deceleration that was too large for the vehicle to move. The new function compute_ds_linear uses an equation of motion that compute acceleration accordingly based off the remaining displacement, and current and target velocities. Using this function results in office robots not working correctly hence a new function; let it be a TODO for another day. Unified function in PR Make holonomic vehicles use new linear motion function #57

• Fixed bug with ackermann steering vehicles not moving when give a single straight line trajectory.

Added Feature

Add a property, obey_target_yaw_ackermann that allows vehicles to obey target yaw of the final waypoint of the trajectory. All ackermann steering robots can use this, it's set to false by default.

Added markers for trajectory message's path

[codecov]

Codecov Report

Merging #54 (1cd58a6) into main (7e80608) will not change coverage.
The diff coverage is n/a.

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  Coverage   0.00%   0.00%            
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  Files        138     138            
  Lines      12845   13329   +484     
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- Misses     12845   13329   +484     

Flag	Coverage Δ
tests	0.00% <ø> (ø)

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Impacted Files	Coverage Δ
...bot_sim_ignition_plugins/src/TeleportDispenser.cpp
...uilding_sim_gazebo_plugins/src/crowd_simulator.cpp
...ion/rmf_building_sim_ignition_plugins/src/lift.cpp
...ation/rmf_robot_sim_common/src/readonly_common.cpp
...rmf_building_sim_common/crowd_simulator_common.hpp
...uilding_sim_gazebo_plugins/src/crowd_simulator.hpp
...uilding_sim_gazebo_plugins/src/toggle_charging.cpp
...m_ignition_plugins/src/LightTuning/LightTuning.cpp
...ation/rmf_building_sim_gazebo_plugins/src/lift.cpp
...ation/rmf_building_sim_gazebo_plugins/src/door.cpp
... and 254 more

[luca-della-vedova]

Works great thanks! Marking as draft so we can use it as a temporarily workaround until support for ackermann vehicles in rmf_traffic is finished

[luca-della-vedova]

Closed via #71