Finish rename of nonholonomic to ackermann, make ackermann vehicles standardized with RMF stack

[luca-della-vedova]

Bug fix

Fixed bug

Closes #47 and closes #48.
Ackermann vehicles were using custom topics for path requests (even though they use the same data format as normal robots), as well as not reporting their state hence making it impossible for downstream users to monitor them. This PR fixes both the issues, as well as finishing the renaming of nonholonomic -> ackermann drive and cleaning up the code a bit.

To test, with the matching PR in rmf_demos:

ros2 launch rmf_demos_ign test_ackman.launch.xml

And

ros2 run rmf_demos_tasks request_ackmann_path -p rmf_demos_maps -n maps/test_ackman/nav_graphs/0.yaml -s a1 -e c1 -i task11 -r ambulance

[codecov]

Codecov Report

Merging #49 (de0f865) into main (d683575) will not change coverage.
The diff coverage is n/a.

@@           Coverage Diff           @@
##            main     #49     +/-   ##
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  Coverage   0.00%   0.00%             
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  Files        204     138     -66     
  Lines      19244   12833   -6411     
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+ Misses     19244   12833   -6411     

Flag	Coverage Δ
tests	0.00% <ø> (ø)

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Impacted Files	Coverage Δ
...lation/rmf_building_sim_common/src/lift_common.cpp
...robot_sim_gazebo_plugins/src/TeleportDispenser.cpp
...uilding_sim_gazebo_plugins/src/toggle_charging.cpp
...ion/rmf_robot_sim_ignition_plugins/src/slotcar.cpp
...ion/rmf_building_sim_ignition_plugins/src/lift.cpp
...m_ignition_plugins/src/LightTuning/LightTuning.cpp
...ation/rmf_robot_sim_gazebo_plugins/src/slotcar.cpp
...on/include/rmf_robot_sim_common/slotcar_common.hpp
...tion/rmf_robot_sim_gazebo_plugins/src/readonly.cpp
...bot_sim_ignition_plugins/src/TeleportDispenser.cpp
... and 320 more

[ddengster]

tested with the new changes on open-rmf/rmf_demos#86, LGTM!

[aaronchongth]

Looks great! Thanks for the changes, I just have a few minor comments.

[Yadunund]

Apart from @aaronchongth 's comments, the changes look okay. I would be cool to have a full control ackermann vehicle in rmf_demos in the future. Right now if I try to start up a full control fleet adapter to control the ackermann steered vechile, the PathRequest msg submitted by the fleet adapter will contain in-place rotations which are not filtered out on the slotcar end. We could implement some filtering in the future or better yet update rmf_traffic to interpolate waypoints for such vehicles such that the waypoints in the PathRequest respect the ackermann constraints. I've opened a ticket for that open-rmf/rmf_traffic#42

[luca-della-vedova]

Addressed all the changes! I also found a few areas for small cleanups.

Apart from @aaronchongth 's comments, the changes look okay. I would be cool to have a full control ackermann vehicle in rmf_demos in the future. Right now if I try to start up a full control fleet adapter to control the ackermann steered vechile, the PathRequest msg submitted by the fleet adapter will contain in-place rotations which are not filtered out on the slotcar end. We could implement some filtering in the future or better yet update rmf_traffic to interpolate waypoints for such vehicles such that the waypoints in the PathRequest respect the ackermann constraints. I've opened a ticket for that open-rmf/rmf_traffic#42

Agreed! I think it would be a great new feature to have. For our specific scenario we are not too concerned with this issue yet so I think it's fine to take time to do a good implementation on the rmf_traffic side rather than a quick patch on slotcar to filter waypoints.

[Yadunund]

LGTM

[aaronchongth]

Thanks for the changes, LGTM