[Garden] Port scan, dock, deliver - Part 3

[caguero]

This pull request finishes porting the ScanDockScoringPlugin from Gazebo classic. In particular, it ports the functionality related with the detection of the projectile in the placard targets.

How to test it?

1. Apply the following patch to move the vehicle to the central bay.

   patch

   diff --git a/vrx_gz/launch/competition.launch.py b/vrx_gz/launch/competition.launch.py
   index 9d13e862..2590106a 100644
   --- a/vrx_gz/launch/competition.launch.py
   +++ b/vrx_gz/launch/competition.launch.py
   @@ -39,7 +39,7 @@ def launch(context, *args, **kwargs):
            with open(config_file, 'r') as stream:
                models = Model.FromConfig(stream)
        else:
   -      m = Model('wamv', 'wam-v', [-532, 162, 0, 0, 0, 1])
   +      m = Model('wamv', 'wam-v', [-486.4, 197, 0, 0, 0, 1])
          if robot_urdf and robot_urdf != '':
              m.set_urdf(robot_urdf)
          models.append(m)
   

• Recompile and launch the scan_dock_deliver_task world:

ros2 launch vrx_gz competition.launch.py world:=scan_dock_deliver_task

• On a new terminal launch the joystick teleop node:

ros2 launch vrx_gz usv_joy_teleop.py

• On a new terminal check the /vrx/task/info topic:

ros2 topic  echo /vrx/task/info

• Let's shoot a projectile. Open a new terminal and run:

ros2 topic pub --once /wamv/shooters/ball_shooter/fire std_msgs/Empty

If everything goes well, the ball should go inside the big target. Verify that the scoring increments in 5 points each time a target is hit. Remember that we only allow 4 attempts.

[M1chaelM]

Looks good! Working as expected for me.