Support resource files with spaces

[chapulina]

Addresses #2870 .

Most file types were already working with whitespaces without issues. I added tests anyway to make sure they keep working. I've also only tested locally on Ubuntu, so I'm curious to see whether the new tests pass for all platforms.

Changes:

• Support encoded file names within COLLADA files (closes Collada fails to find texture with space in file name #2369).
• Fixed ServerFixture to support world names with spaces by artificially injecting %20 into it internally.

I also took the opportunity to add tests for entity names with spaces wherever I could. There are known issues with spaces in entity names that I didn't address though, such as creating transport topics or URIs (#2056).

The only file types that are not getting support for spaces are MTL files. See this comment: #2870 (comment). Technically we could update our fork of tinyobjloader, but it's not a good idea to diverge from upstream.

---

Manual testing

From a clone of this branch, try the following.

Load a world with spaces:

gazebo --verbose "test/worlds/world with spaces.world"

or

gazebo --verbose test/worlds/world\ with\ spaces.world

Load a model with spaces in various resources:

GAZEBO_MODEL_PATH=`pwd`/test/models/testdb gazebo --verbose

Then insert Model with spaces from the Insert menu.

[iche033]

looks good. Also tested adding a sensor and light with space in the name and the model loads fine.

A few issues I noticed that can be addressed later if needed:

• I see a few error msgs from ign-transport - looks like it does not allow spaces in the topic name:

Topic [/included model/joint_cmd] is not valid.
[Err] [JointController.cc:66] Error subscribing to topic [/included model/joint_cmd]

• the plotting tool may not be working with spaces yet. It prints out a bunch of URI warnings, e.g.:

[Wrn] [URI.cc:327] Unable to parse URI [data://world/world with spaces/model/included model/joint/joint between links nested at different depths?p=axis/0/double/position]. Ignoring.

• A couple of factory test failures that look related on homebrew:

FactoryTest.ActorSpaces
FactoryTest.FilenameFuelURL

[chapulina]

A few issues I noticed that can be addressed later if needed:

Yeah that's #2056. As I mentioned on the description above, this is out of scope for this PR. The focus here are spaces on the filenames. I took the opportunity to also test spaces in entity names wherever it was already working, but I'm not planning to fix the remaining issues in this PR.

FactoryTest.ActorSpaces

I also noticed that was flaky for me locally. The changes in f8fe4a3 seem to have fixed it.

FactoryTest.FilenameFuelURL

That looks flaky from before: https://build.osrfoundation.org/job/gazebo-ci-pr_any-homebrew-amd64/2206/testReport/(root)/FactoryTest/FilenameFuelURL/history/

[iche033]

FactoryTest.FilenameFuelURL

ah it's the SSL certificate issue. This fixes the test for me:

@@ -1419,7 +1420,7 @@ TEST_F(FactoryTest, FilenameFuelURL)
 
   msgs::Factory msg;
   msg.set_sdf_filename(
-      "https://api.ignitionfuel.org/1.0/chapulina/models/Test box");
+      "https://fuel.ignitionrobotics.org/1.0/chapulina/models/Test box/1");

I had to include the version number in the URL otherwise the gazebo complains about not being able to find file in Test box/tip directory

[iche033]

looks good, just one minor style issue. We can address the FactoryTest.FilenameFuelURL issue here or separately. Either way is fine.