New yaml for wildlife encounter task

[M1chaelM]

• This PR adds a wildlife.yaml file that generates three practice worlds similar to the 3 stored in the vrx repository under vrx_gazebo/worlds/2022_practice.
• It requires the new file wildlife.xacro in the vrx repository, so this PR must be tested in conjunction with PR 390 of that repository.

How to test:

These instructions assume you have a workspace at ~/vrx_ws with both vrx and vrx-docker installed, and have checked out the M1chaelM/wildlife_xacro branch in vrx.

• First, switch to the root of the vrx-docker repository.

  cd ~/vrx_ws/src/vrx-docker
  

• Set some variables for convenience:

  TASK=wildlife
  TRIAL=0
  

• Generate the trial worlds for the task

  ./prepare_task_trials.bash $TASK
  

• Verify that 3 worlds are generated without errors (except the expected REQUIRED process [world_gen-2] has died! message).
• Now for each trial, 0-2
  • Test that the generated world runs:

    roslaunch vrx_gazebo vrx.launch world:=`pwd`/generated/task_generated/${TASK}/worlds/${TASK}${TRIAL}.world verbose:=true wamv_locked:=true
    

  • Check that the generated world matches the corresponding world in vrx/vrx_gazebo/worlds/2022_practice in all important details. The way I do this is by looking at the diff with vimdiff. For example:

    cd ~/vrx_ws/src/
    vimdiff vrx-docker/generated/task_generated/${TASK}/worlds/${TASK}${TRIAL}.world 
    vrx/vrx_gazebo/worlds/2022_practice/${TASK}${TRIAL}.world
    

[caguero]

It works for me!