Publish robot name and type information

[nkoenig]

This creates the /subt/robots Ignition Transport topic which contains robot name and configuration information.

Testing

1. ign launch -v 4 cloudsim_sim.ign worldName:=simple_cave_01 circuit:=cave robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1 robotName2:=X2 robotConfig2:=X3_SENSOR_CONFIG_3 marsupial1:=X1:X2``

2. ign topic -et /subt/robots should produce the following output:

param {
  params {
    key: "config"
    value {
      type: STRING
      string_value: "X1 CONFIG 1"
    }
  }
  params {
    key: "name"
    value {
      type: STRING
      string_value: "X1"
    }
  }
  params {
    key: "platform"
    value {
      type: STRING
      string_value: "X1"
    }
  }
}
param {
  params {
    key: "config"
    value {
      type: STRING
      string_value: "X3 UAV CONFIG 3"
    }
  }
  params {
    key: "name"
    value {
      type: STRING
      string_value: "X2"
    }
  }
  params {
    key: "platform"
    value {
      type: STRING
      string_value: "X3"
    }
  }
}
param {
  params {
    key: "marsupial_child"
    value {
      type: STRING
      string_value: "X2"
    }
  }
  params {
    key: "marsupial_parent"
    value {
      type: STRING
      string_value: "X1"
    }
  }
}

Signed-off-by: Nate Koenig nate@openrobotics.org