Add Doppler Velocity Log (DVL) sensor

[acxz]

Desired behavior

For underwater robotics, due to the GPS denied environment, other forms of measurement need to be considered. One such sensor in underwater unmanned vehicles (UUVs) is the DVL which can be used to provided position and velocity information for the vehicle.

Alternatives considered

N/A

Implementation suggestion

HoloOcean is a simulator which does have an implementation of a DVL, referencing it could be helpful in implementing it in gazebo:
https://bitbucket.org/frostlab/holoocean/src/43f862ee4316a79db500a5160ebaef0790c3f4eb/engine/Source/Holodeck/Sensors/Private/DVLSensor.cpp#lines-88:151

Additional context

For fun reading: https://www.nssl.noaa.gov/publications/dopplerguide/chapter2.php

I'll also put down several other sensors that HoloOcean implements that we don't (this is not really a request for these tho) AcousticBeacon, Pressure/Depth?, ImagingSonar, OpticalModem, ProfilingSonar, Sidescan, SingleBeamSonar. The sonar sensors should already be tracked in previous issues, however, HoloOcean claims they have a novel method of simulationg/representing sonar via octree's that could be important to understand and look into for our sonar plugins.

[chapulina]

Folks from the LRAUV project have been looking into this, here's their ticket:

• Port DAVE DVL to Ignition osrf/lrauv#145

[azeey]

Added in #290. Should be available in gz-sensors8.

[acxz]

Thanks so much!