Add system to an entity through Component Inspector

[iche033]

🎉 New feature

depends on #1524

Summary

Adds a tool button to the Component Inspector for adding Systems to a model. When the button is clicked, a dialog pops up and lets you fill the name, filename, and innerxml fields of the System / plugin. Once confirmed, it invokes a service call introduced in #1524 that adds the System to the selected model entity.

Test it

1. launch the diff_drive_no_plugin test world:

   ign gazebo -v 4 ./src/ign-gazebo/test/worlds/diff_drive_no_plugin.sdf
   

2. Click on the vehicle model - The Component Inspector should now show properties of the vehicle model

3. Click the + button in the toolbar in the Component Inspector - A dialog should pop out

4. Fill the name field with:

   ignition::gazebo::systems::DiffDrive
   

5. Fill the filename field with:

   ignition-gazebo-diff-drive-system
   

6. Fill the innerxml field with:

       <left_joint>left_wheel_joint</left_joint>
       <right_joint>right_wheel_joint</right_joint>
       <wheel_separation>1.25</wheel_separation>
       <wheel_radius>0.3</wheel_radius>
       <max_linear_acceleration>1</max_linear_acceleration>
       <min_linear_acceleration>-1</min_linear_acceleration>
       <max_angular_acceleration>2</max_angular_acceleration>
       <min_angular_acceleration>-2</min_angular_acceleration>
       <max_linear_velocity>0.5</max_linear_velocity>
       <min_linear_velocity>-0.5</min_linear_velocity>
       <max_angular_velocity>1</max_angular_velocity>
       <min_angular_velocity>-1</min_angular_velocity>    
   

7. Click Ok to add the System to the model - You should see the + System Plugin Info appear in the Component Inspector to indicate that the model now has a System.

8. Hit Play - The plugin should be running and read to accept vel commands

9. Publish a message to move the vehicle:

   ign topic -t "/model/vehicle/cmd_vel" -m ignition.msgs.Twist -p "linear: {x: 0.5}, angular: {z: 0.05}"
   

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.

[chapulina]

Nice! It works for me! I just have some minor comments.

[codecov]

Codecov Report

Merging #1549 (f14b79c) into ign-gazebo6 (d6e69d0) will increase coverage by 0.03%.
The diff coverage is 54.81%.

@@               Coverage Diff               @@
##           ign-gazebo6    #1549      +/-   ##
===============================================
+ Coverage        64.02%   64.05%   +0.03%     
===============================================
  Files              317      317              
  Lines            25649    25788     +139     
===============================================
+ Hits             16422    16519      +97     
- Misses            9227     9269      +42     

Impacted Files	Coverage Δ
include/ignition/gazebo/SystemLoader.hh	100.00% <ø> (ø)
src/ServerConfig.cc	90.69% <ø> (ø)
.../plugins/component_inspector/ComponentInspector.hh	28.57% <ø> (ø)
...rc/systems/ackermann_steering/AckermannSteering.hh	100.00% <ø> (ø)
src/systems/diff_drive/DiffDrive.hh	100.00% <ø> (ø)
.../plugins/component_inspector/ComponentInspector.cc	5.07% <2.77%> (-0.26%)	⬇️
...rc/systems/ackermann_steering/AckermannSteering.cc	85.67% <76.47%> (-0.50%)	⬇️
src/SystemLoader.cc	67.46% <94.11%> (+3.95%)	⬆️
src/EntityComponentManager.cc	89.35% <100.00%> (-0.01%)	⬇️
src/SystemManager.cc	97.63% <100.00%> (+0.55%)	⬆️
... and 4 more

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[chapulina]

LGTM so far, but let's not merge it until we have a dropdown to choose the plugin.

[chapulina]

Just pending #1581