Pose, twist and odometry with covariance msgs

[adityapande-1995]

Signed-off-by: Aditya aditya050995@gmail.com

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🎉 New feature

Summary

This PR adds 2 new message types : TwistWithCovariance and PoseWithCovariance which have covariance matrices along with the original twist / pose message. This type was available in geometry_msgs/*WithCovariance and was used in gazebo_ros_pkgs in cases where the poses have noise associated with them.

Also fixes a minor typo in twist.proto

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• 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.

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[codecov]

Codecov Report

Merging #224 (91507a8) into ign-msgs8 (e7c0e3c) will not change coverage.
The diff coverage is n/a.

❗ Current head 91507a8 differs from pull request most recent head 78ffa6a. Consider uploading reports for the commit 78ffa6a to get more accurate results

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##           ign-msgs8     #224   +/-   ##
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  Coverage      85.38%   85.38%           
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  Files              9        9           
  Lines            951      951           
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  Hits             812      812           
  Misses           139      139           

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[scpeters]

actually, have you tested whether the ros_ign bridge properly converts this to the corresponding ROS message?

[scpeters]

I'd rather not merge this to a stable branch if it hasn't been tested with the bridge

[adityapande-1995]

I haven't tested it with the ros_ign bridge yet. On it 👍

[mjcarroll]

One tiny nit

[jacobperron]

LGTM, one question about style below.

[adityapande-1995]

PR to bridge these msgs to ROS : gazebosim/ros_gz#222

[osrf-triage]

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-ignition-releases-2022-03-25-fortress-edifice-citadel/1343/1