Ocean Current Plugin

[GauravKumar9920]

This PR introduces the addition of Ocean Current plugin to the Dave project.
Link to the Documentation -
Here's a checklist for the migration of ocean current plugin and it's features :

• Migration of basic framework for ocean_current_plugin.
• Migration of basic framework for ocean_current_world_plugin.
• Migration of basic framework for ocean_current_model_plugin.
• read and add the csv data file for transientOceanCurrentDatabase.csv and ACT1951_1_Annual_2021.csv in the ocean_current_world_plugin.
• Add service, proto and msg files to Dave interfaces and added usage in their respective plugins.
• Add Tidal Oscillations and Gauss-Markov Process
• Updated code for shared data access between ocean_current_plugin and ocean_current_world_plugin(sharedDataPtr).
• Bug fixes and minor modifications.
• make model SDF and world files for the launch of respective plugins.
• Testing
• Apply force to the models in ocean_current_model_plugin.
• Testing for multi-Model ocean current Behavior.
• Final Wrap-ups !!

[woensug-choi]

@GauravKumar9920
At c449d63,

1. Moved proto/dave_gz_world_plugins_msgs/msgs to dave_gz_world_plugins instead of dave_interfaces
   • moved .proto file and part of CMakeLists.txt to make proto msg
2. Added dave_gz_world_plugins-msgs to target_link_libraries
   • here, the -msgs at the end of dave_gz_world_plugins is set as msgs because we've set TARGET as msgs at gz_msgs_generate_mssages? (didn't double check, but this is how I understood)
   • Added dave_gz_world_plugins-msgs to install target list

To-test

ros2 launch dave_robot_launch robot_in_world.launch.py z:=-5 namespace:=rexrov world_name:=ocp paused:=false

Problem from now

• Warning(error?) msg when running the above launch command

[ruby $(which gz) sim-1] Node::Publisher::Publish() Type mismatch.
[ruby $(which gz) sim-1] 	* Type advertised: dave_gz_world_plugins_msgs.msgs.StratifiedCurrentVelocity
[ruby $(which gz) sim-1] 	* Type published: gz.msgs.Vector3d