Odometry publisher: also publish Pose_V (TF)

[chapulina]

🎉 New feature

Summary

The OdometryPublisher plugin already publishes msgs::Odometry, but it's also useful for it to publish msgs::Pose_V, which can be bridged to the /tf topic in ROS.

I used /mode/<name>/pose as the default so that it would match the PosePublisher. But note that this is different from the DiffDrive's default, which is /model/<name>/tf.

Test it

• Run the example and then the command suggested below
• Run the added test
• Add the plugin to a ROS-enabled model, bridge the /mode/<name>/pose topic to /tf, and check the transforms with ROS

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.

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[mjcarroll]

Looks like the test may be timing out in CI: https://build.osrfoundation.org/job/ignition_gazebo-ci-pr_any-ubuntu_auto-amd64/8879/testReport/junit/(root)/ServerRepeat_OdometryPublisherTest/Movement3d_0/

[chapulina]

Looks like the test may be timing out in CI

Ouch I changed the implementation halfway but forgot to update the test. It should be fixed now.

[codecov]

Codecov Report

Merging #1534 (11a68be) into ign-gazebo6 (b753afe) will increase coverage by 2.51%.
The diff coverage is 90.00%.

@@               Coverage Diff               @@
##           ign-gazebo6    #1534      +/-   ##
===============================================
+ Coverage        61.52%   64.04%   +2.51%     
===============================================
  Files              361      316      -45     
  Lines            27733    25478    -2255     
===============================================
- Hits             17063    16317     -746     
+ Misses           10670     9161    -1509     

Impacted Files	Coverage Δ
src/systems/diff_drive/DiffDrive.hh	100.00% <ø> (ø)
...rc/systems/odometry_publisher/OdometryPublisher.hh	100.00% <ø> (ø)
...rc/systems/odometry_publisher/OdometryPublisher.cc	87.87% <90.00%> (-0.50%)	⬇️
...ion_capabilities/qrc_VisualizationCapabilities.cpp
...-gui_autogen/EWIEGA46WW/moc_AboutDialogHandler.cpp
src/gui/plugins/spawn/qrc_Spawn.cpp
src/gui/plugins/plot_3d/qrc_Plot3D.cpp
src/msgs/peer_control.pb.cc
...c/gui/plugins/scene_manager/qrc_GzSceneManager.cpp
src/msgs/performer_affinity.pb.cc
... and 38 more

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[quarkytale]

Works for me!