Handling demo red ball in gazebo

[vvasco]

This PR updates demoRedBall and pf3dTracker conf files to handle the red ball demo within gazebo.
More specifically:

pf3dTracker

The following files have been added:

• red_ball_gazebo.bmp and redball-gazebo.csv model to deal with gazebo red ball's color and shape respectively;
• pf3dTracker-gazebo.ini that loads the previous files.

demoRedBall

The following changes have been made:

• the simulation flag allows to run the demo in simulation;

• the respond method contains three new commands:

  • start: to start the demo;
  • stop: to stop the demo;
  • update_pose x y z: to update the ball position;

  Note: the behavior of the demo on the real robot has not changed and it automatically starts when running the module.

• added a gazebo folder with the ball model and gazebo world;

Also, a demoRedBall_gazebo.xml.template including the required modules and the related conf files is available.
The demoRedBall documentation has also been updated.

Here is an example of the demo running in gazebo:

redball-gazebo.mp4

Finally, these changes have also been successfully tested on iCubErzelli02 to be sure that the demo on the real robot is not affected.

[pattacini]

Fantastic addition @vvasco 🚀

I've only a comment to make: can we consider updating the test introduced in robotology/icub-tests#24 as well?

Actually, that test was meant for checking at least part of the pipeline.
We should merge the pathways.

Is this addition meant for testing or is it a general feature?

[vvasco]

I've had a quick look at the test and I think we can easily merge the simulation pathway.
The addition is meant to be a general feature, but it might be also useful for testing purposes.

[pattacini]

I think we can easily merge the simulation pathway.

Thanks 👍🏻

[pattacini]

CI is failing under Windows because GAZEBO is not found.
Perhaps, it'd be worth adding the CMake logic to deal with this condition.

[vvasco]

The CMake logic is there but by default the GAZEBO_AVAILABLE option is set to ON. I can set this to be OFF instead by default.

[pattacini]

The CMake logic is there but by default the GAZEBO_AVAILABLE option is set to ON. I can set this to be OFF instead by default.

Uhm, GAZEBO_AVAILABLE should be the result the check.

[pattacini]

In a nutshell find_package(GAZEBO) shouldn't have the REQUIRED option enabled; rather, you check whether it is available by reading GAZEBO_FOUND as the result of the find_package macro.

[vtikha]

LGTM 🎉🎉🎉

[pattacini]

Waiting for the CI to complete and then I'll merge the PR!

[pattacini]

Apparently, we do still have problems:

2021-04-20T16:22:55.1630643Z D:\a\icub-basic-demos\icub-basic-demos\demoRedBall\src\main.cpp(2048,18): error C2065: 'simulation': undeclared identifier [D:\a\icub-basic-demos\icub-basic-demos\build\demoRedBall\demoRedBall.vcxproj]

[vvasco]

There was a leftover, I fixed it.