Ros2 add launch and remappings

[delihus]

Added dynamically loaded components with their plugins in Gazebo Ignition.

[rafal-gorecki]

Make it easier to maintain

Suggested change

	for component in node["components"]:
	if component["type"] == "LDR01" or component["type"] == "LDR06":
	actions.append(get_launch_description("slamtec_rplidar", package, namespace, component))
	if component["type"] == "LDR13":
	actions.append(get_launch_description("ouster_os", package, namespace, component))
	if component["type"] == "LDR20":
	actions.append(get_launch_description("velodyne", package, namespace, component))
	if component["type"] == "CAM01":
	actions.append(get_launch_description("orbbec_astra", package, namespace, component))
	component_to_launch = {
	"LDR01": "slamtec_rplidar",
	"LDR06": "slamtec_rplidar",
	"LDR13": "ouster_os",
	"LDR20": "velodyne",
	"CAM01": "orbbec_astra"
	}
	for component in node["components"]:
	component_type = component["type"]
	if component_type in component_to_launch:
	launch_description = get_launch_description(component_to_launch[component_type], package, namespace, component)
	actions.append(launch_description)

[rafal-gorecki]

Then we can even inplace and rid off get_launch_description

[delihus]

Nah, I prefer get_launch_description to stay.

[rafal-gorecki]

I think it could be done better (these test a bit scary me). First of all i will leave only test here and others useful function move to other file.

This is how I imagined these tests:

1. Create a list of object types
2. Create a list containing the test case: (namespaces, device_name, result)
3. In a loop, loop through all sensors and namespaces.
   a. load_component
   b. check link name
   c. check sensor name.

Yaml loading tests can be added to this.
And similarly, first a few scenarios, e.g. without parent_name, should cause an error.

Let me know what you think, maybe I can help you with it, because I know you work less often now.

[delihus]

So. We have changed the idea of our urdf. Changes applied in this pr.

[rafal-gorecki]

Probably unncecesary

Suggested change

	use_gpu="True"
	simulation_engine="ignition-gazebo"
	simulation_engine="ignition-gazebo"