🌐 Spherical coordinates

[chapulina]

🎉 New feature

Closes #981

Requires

• 🌐 Spherical coordinates: bug fix, docs and sanity checks gz-math#235
• 🌐 Parse spherical coordinates sdformat#685
• 🌐 Spherical coordinates conversion and commands gz-msgs#177

Summary

Add support for spherical coordinates (latitude / longitude). Users are able to set the lat / lon for the world origin, and query the lat / lon for other entities with respect to that.

• Set from SDF, see example world
• See on component inspector
• Plot world origin coordinates
• Change world origin coordinates from plugins
• Change world origin coordinates from a transport service

TODO

• Tutorial

Under consideration:

• Support spawning entities at a given spherical location through the create service
• Move entities to a given spherical coordinate through the set pose service

I'll open this PR for review when the above have been sorted out.

Test it

Try changing it through the SDF, the component inspector, and the service.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

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[codecov]

Codecov Report

Merging #1008 (1fa8bae) into main (4be711c) will decrease coverage by 0.09%.
The diff coverage is 62.87%.

@@            Coverage Diff             @@
##             main    #1008      +/-   ##
==========================================
- Coverage   63.47%   63.37%   -0.10%     
==========================================
  Files         241      242       +1     
  Lines       19577    19715     +138     
==========================================
+ Hits        12426    12495      +69     
- Misses       7151     7220      +69     

Impacted Files	Coverage Δ
include/ignition/gazebo/Util.hh	100.00% <ø> (ø)
include/ignition/gazebo/World.hh	100.00% <ø> (ø)
.../plugins/component_inspector/ComponentInspector.cc	6.22% <0.00%> (-0.52%)	⬇️
.../plugins/component_inspector/ComponentInspector.hh	28.57% <ø> (ø)
src/SdfEntityCreator.cc	84.14% <33.33%> (-0.40%)	⬇️
...nclude/ignition/gazebo/components/Serialization.hh	94.11% <60.00%> (-5.89%)	⬇️
src/Util.cc	93.10% <80.00%> (-0.60%)	⬇️
src/systems/user_commands/UserCommands.cc	60.88% <81.05%> (+2.93%)	⬆️
...ignition/gazebo/components/SphericalCoordinates.hh	100.00% <100.00%> (ø)
src/LevelManager.cc	89.14% <100.00%> (+0.11%)	⬆️
... and 5 more

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[caguero]

Everything worked as expected. I just found a tiny typo in the tutorial. I have just one comment:

Let's say I follow the tutorial and spawn an entity. If I now set the world origin's spherical coordinates with the GUI or the service to a different value, shouldn't all entities be moved as a side effect?

[chapulina]

Let's say I follow the tutorial and spawn an entity. If I now set the world origin's spherical coordinates with the GUI or the service to a different value, shouldn't all entities be moved as a side effect?

I added a note about this to the tutorial in 76495a7. It would be tough to move the entire world, and I'm not sure this is something that the user may always want. I think in the future, if there's need for it, we could add an option that enables this. For now, changing the world origin only affects subsequent commands, like spawns and moves.