Modify the kinematics plugin to match with new interface diagram and msg

[woensug-choi]

Baseground

• New interface design : Issue New UW Glider simulator interface #34
• FRL msg repo new_gliderstatus branch : https://github.com/Field-Robotics-Lab/frl_msgs/tree/new_gliderstatus

Changelog

The plugin is modified to match with the new interface diagram solely to deal with glider motions and its actual values (from gazebo values, not that of estimated values obtained from sensors) according to the new UwGliderStatus msg

• Change the plugin name and command/status topic name
  • Plugin name
    • Before : direct_kinematics_ros_plugin / After : kinematics_ros_plugin
  • Command/status ROS topic name
    • Before : /glider_hybrid_whoi/direct_kinematics/UwGliderCommand, /glider_hybrid_whoi/direct_kinematics/UwGliderStatus
    • After : /glider_hybrid_whoi/kinematics/UwGliderCommand, /glider_hybrid_whoi/kinematics/UwGliderStatus
• Remove sensor data manipulation from the kinematics plugin
• Add GDAL transform to calculate Lat/Lon from XYZ
  • Now requires target transform epsg coordinate frame
    

    glider_hybrid_whoi/glider_hybrid_whoi_description/urdf/glider_hybrid_whoi_base_kinematics.xacro

    Line 147 in 17b0d6c

    <espg_projection>26987</espg_projection>

Note

• The ASV urdf in PR Surface vehicle (ASV) #33 should be modified accordingly

[woensug-choi]

@daewok Please note that the topic name for glider command and status is changed

• Command/status ROS topic name
  • Before : /glider_hybrid_whoi/direct_kinematics/UwGliderCommand, /glider_hybrid_whoi/direct_kinematics/UwGliderStatus
  • After : /glider_hybrid_whoi/kinematics/UwGliderCommand, /glider_hybrid_whoi/kinematics/UwGliderStatus