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

vrx_gazebo/config/wamv_config/component_compliance/numeric.yaml

@@ -1,68 +1,68 @@
 wamv_camera: 
     num: 3
     allowed_params:
+        name
         x
         y
         z
         R
         P
         Y
-        name
         post_Y
+        visualize
 
 wamv_gps:
     num: 1
     allowed_params:
+        name
         x
         y
         z
         R
         P
         Y
-        name
-        post_Y
 
 wamv_imu:
     num: 1
     allowed_params:
+        name
         x
         y
         z
         R
         P
         Y
-        name
-        post_Y
 
 lidar:
     num: 2
     allowed_params:
+        name
+        type    
         x
         y
         z
         R
         P
         Y
-        name
         post_Y
-        type
-
-wamv_p3d:
-    num: 0
-    allowed_params:
-        name
 
 wamv_ball_shooter:
     num: 1
     allowed_params:
+        name
         x
         y
         z
         pitch
         yaw
-        name
+
 wamv_pinger:
     num: 1
     allowed_params:
+        name
         position
+
+wamv_p3d:
+    num: 0
+    allowed_params:
         name

vrx_gazebo/config/wamv_config/example_component_config.yaml

@@ -1,30 +1,64 @@
 wamv_camera:
     - name: front_left_camera
+      visualize: False
       x: 0.75
       y: 0.1
+      z: 1.5
+      R: 0.0
       P: ${radians(15)}
+      Y: 0.0
+      post_Y: 0.0
     - name: front_right_camera
+      visualize: False
       x: 0.75
       y: -0.1
+      z: 1.5
+      R: 0.0
       P: ${radians(15)}
+      Y: 0.0
+      post_Y: 0.0
     - name: far_left_camera
+      visualize: False
       x: 0.75
       y: 0.3
+      z: 1.5
+      R: 0.0
       P: ${radians(15)}
+      Y: 0.0
+      post_Y: 0.0
 wamv_gps:
     - name: gps_wamv
       x: -0.85
+      y: 0.0
+      z: 1.3
+      R: 0.0
+      P: 0.0
+      Y: 0.0
 wamv_imu:
     - name: imu_wamv
+      x: 0.3
       y: -0.2
+      z: 1.3
+      R: 0.0
+      P: 0.0
+      Y: 0.0
 lidar:
     - name: lidar_wamv
       type: 16_beam
+      x: 0.7
+      y: 0.0
+      z: 1.8
+      R: 0.0
       P: ${radians(8)}
+      Y: 0.0
+      post_Y: 0.0
 wamv_ball_shooter:
     - name: ball_shooter
       x: 0.55 
       y: -0.3 
       z: 1.3
       pitch: ${radians(-20)}
-      yaw: 0
+      yaw: 0.0
+wamv_pinger:
+    - name: pinger
+      position: 1.0 0 -1.0