Follow speed limits for slotcar robots

[luca-della-vedova]

New feature implementation

Implemented feature

This PR allows simulated robots to respect speed limits specified in path requests, requires open-rmf/rmf_internal_msgs#28 and open-rmf/rmf_ros2#132

Implementation description

A new std::optional<double> max_speed is added to UpdateResult in slotcar_common, if a speed limit was specified in the message (specifically if it was > 0.0) the minimum between vehicle nominal speed and speed limit will be the navigation speed of the vehicle, before it was fixed at being the maximum robot speed at all times.

Since we need to store more information than a simple pose for differential drive robots' trajectories (i.e. speed limit), a new struct DiffDriveTrajectory was added and a minor refactoring took place to use it throughout the code.

[aaronchongth]

Thanks for adding this feature, @luca-della-vedova! I've taken a quick look, other than the comments, I also feel that we should revisit functions like calculate_control_signals and calculate_joint_control_signals in the future and remove the use of default arguments in the next major versions release, as those arguments are used wholly by our downstream packages so far.

[luca-della-vedova]

Added checks for speed limit being greater than 0 02dc918.

I also feel that we should revisit functions like calculate_control_signals and calculate_joint_control_signals in the future and remove the use of default arguments in the next major versions release, as those arguments are used wholly by our downstream packages so far.

This can be done, so the idea is that all the arguments must be specified at all times instead of relying on default arguments? In that case I think some refactoring is also in order to reduce the number of input arguments to these functions, maybe by packing more motion parameters in structs

[codecov]

Codecov Report

Merging #56 (425357a) into main (5d0f65a) will not change coverage.
The diff coverage is n/a.

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##            main     #56    +/-   ##
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  Coverage   0.00%   0.00%            
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  Files        138     138            
  Lines      12845   12969   +124     
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- Misses     12845   12969   +124     

Flag	Coverage Δ
tests	0.00% <ø> (ø)

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Impacted Files	Coverage Δ
..._sim_common/include/rmf_robot_sim_common/utils.hpp
...lding_sim_ignition_plugins/src/crowd_simulator.cpp
...tion/rmf_robot_sim_common/src/dispenser_common.cpp
...uilding_sim_gazebo_plugins/src/crowd_simulator.cpp
...rmf_building_sim_common/crowd_simulator_common.hpp
...ation/rmf_building_sim_gazebo_plugins/src/lift.cpp
...ion/rmf_robot_sim_ignition_plugins/src/slotcar.cpp
...lation/rmf_building_sim_common/src/lift_common.cpp
...lation/rmf_building_sim_common/src/door_common.cpp
..._robot_sim_gazebo_plugins/src/TeleportIngestor.cpp
... and 254 more

[luca-della-vedova]

Closed via #71