Update example_component_config.yaml and numeric.yaml for generating compliant WAM-V URDFs

[Tinker-Twins]

The current example_component_config.yaml lacks two things:

1. Functional aspect: It does not include the wamv_pinger component! If a custom WAM-V URDF is generated without this component, it still passes the compliance checks, but the sensor is not instantiated. When the Gymkhana task is launched, no data is published to /wamv/sensors/pingers/pinger/range_bearing topic. Consequently, it is impossible to localize the black box, and hence complete the task.

2. Readability: The example config sets a standard in front of developers, and hence it is common to assume that it is self-contained to its fullest abilities. However, the current version does not include all the allowable parameters for most of the components.

The current numeric.yaml lacks two things:

1. Functional aspect: wamv_gps and wamv_imu do nat have the parameter post_Y.

2. Readability: Sequence of the components does not match that in the example_component_config.yaml file.

Changes:

The said files have been updated to address the concerns raised above. Particularly, the example_component_config.yaml file now contains defination for wamv_pinger component, and includes all the allowable parameters for all the components. The numeric.yaml file is rearranged to match component sequence as in the example_component_config.yaml file, and unnecessary parameters have been removed.

[M1chaelM]

@caguero Note that our example team at https://github.com/osrf/vrx-docker/tree/master/team_config/example_team is also missing a pinger, so we may way to update that also.

[caguero]

All looks good to me! Thanks for the contribution! Just one more minor request. As @M1chaelM pointed out, could you add the pinger to the components file of our team example?

https://github.com/osrf/vrx-docker/tree/master/team_config/example_team

[Tinker-Twins]

Sure, no problem!

[Tinker-Twins]

Created osrf/vrx-docker#51 by adding the pinger component to the component_config.yaml.

Besides this, we found that there were a few inconsistencies between the component_config.yaml and thruster_config.yaml of the vrx-docker repository as compared with example_component_config.yaml and example_thruster_config.yaml of the vrx repository, and have resolved them as well.

[M1chaelM]

Thanks for this contribution. Since this is approved I'm going to go ahead and merge.

[Tinker-Twins]

@M1chaelM, PR osrf/vrx-docker#51 is still pending. Kindly review and merge it so that there wouldn't be any inconsistency between the two repositories.