Acoustic comms plugin

[adityapande-1995]

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🎉 New feature

Summary

This plugin adds a simple acoustic comms plugin to gz-sim.

Test it

Added a small test case which contains 2 pairs of boxes which communicate with each other. One set in inside the max range of comms, and the other is outside it. The one outside the range should not receive any messages.

TODO

• The current calculation for distanceToTransmitter considers the current distance between the 2 bodies, when actually it should be the distance between current receiver position and position of the sender at the time at which the packet was sent, as the sender might be moving. This is not a big problem if the 2 bodies are at rest or moving slowly compared to speed of sound.

Since the packet does not contain a field related to position of sender at the time the packet was sent, I;m not sure how to implement this.

Checklist

• [x] Signed all commits for DCO
• [x] 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)
• [x] codecheck passed (See contributing)
• [x] 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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[codecov[bot]]

Codecov Report

Merging #1608 (96e9bea) into main (9d24893) will increase coverage by 0.06%. The diff coverage is 94.64%.

:exclamation: Current head 96e9bea differs from pull request most recent head 6aceed4. Consider uploading reports for the commit 6aceed4 to get more accurate results

@@            Coverage Diff             @@
##             main    #1608      +/-   ##
==========================================
+ Coverage   63.57%   63.63%   +0.06%     
==========================================
  Files         330      331       +1     
  Lines       25926    25981      +55     
==========================================
+ Hits        16482    16534      +52     
- Misses       9444     9447       +3     

Impacted Files	Coverage Δ
src/systems/acoustic_comms/AcousticComms.cc	94.64% <94.64%> (ø)
src/EntityComponentManager.cc	90.86% <0.00%> (-0.02%)	:arrow_down:

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[adityapande-1995]

As per offline discussion with @caguero , we decided that making the users specify the position of the sender in the header file is cumbersome. Instead, what I have now is : The plugin will keep track the position of sender when a msg is first processed, and use that for distance calculations throughout the life of the message.

This means the difference between actual position of the sender (when the msg was sent) and the one we use will only differ by one spin cycle of the plugin, which is still good.

[chapulina]

Removed the Garden label because we're past feature freeze ❄️ .

This PR can either be merged into main and backported to gz-sim7 after the stable release, or retargeted to gz-sim7 and merged after the stable release (i.e. October).

[adityapande-1995]

@osrf-jenkins retest this please

[adityapande-1995]

I don't think the failures in CI are related to the changes made here.