feat(Reversible Eletrical Robot with proppeler): Created a Pluggin fo…

[andre-rebelo-teixeira]

…r a reversible eletrical motor

Please beware this pluggin does not work by receiving as input the parameters of the mtor and proppeler, but rather the coeficients of a polinomial that converts from input singal (pwm) into thrust and torque exerted

New Feature

Some robots such as the one this plugin was created utilize a reversible electrical motor with a propeller attached, allowing the exertion of thrust in both directions, this was previously not modulated in any plugin so a new plugin was created capable of representing this behavior

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• 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

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

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🎉 New feature

Closes #

Summary

Test it

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• 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

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

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➡️ Forward port

Port <FROM_BRANCH> to <TO_BRANCH>

Branch comparison: https://github.com/gazebosim//compare/<TO_BRANCH>...<FROM_BRANCH>

Note to maintainers: Remember to Merge with commit (not squash-merge or rebase)

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🎈 Release

Preparation for <X.Y.Z> release.

Comparison to <x.y.z>: https://github.com/gazebosim//compare/<LATEST_TAG_BRANCH>...<RELEASE_BRANCH>

Needed by <PR(s)>

Checklist

• Asked team if this is a good time for a release
• There are no changes to be ported from the previous major version
• No PRs targeted at this major version are close to getting in
• Bumped minor for new features, patch for bug fixes
• Updated changelog
• Updated migration guide (as needed)
• Link to PR updating dependency versions in appropriate repository in gazebo-release (as needed):

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[Pedro-Roque]

@andre-rebelo-teixeira I'll rework this to fit into the existing multicopter model. I'll come back by the end of the day

[Pedro-Roque]

@ahcorde @azeey Can you chek this PR? We are adding bidirectional motor support to this plugin, as it was missing on the original multicopter plugin.

[Pedro-Roque]

@mjcarroll now ready to review

[iche033]

I think you mean to target this to gz-sim8? This is currently targeted at gz-sm7 which is Gazebo Garden and has reached EOL. Can you retarget to gz-sim8?

There are also some minor linter issues picked up by CI, e.g. trailing whitespaces and possibly line width limit exceeding 80 chars.

after a quick look through this PR, I think this shouldn't break existing behavior, is that correct?

[Pedro-Roque]

Hi @iche033 , it shouldn't no. We are doing a few more functional tests and then I'll fix the missing CI bits.

[azeey]

@Pedro-Roque, any progress on this? #2791 (comment) about targeting the gz-sim8 branch.