Nate Koenig

@scpeters, is this safe to merge?

Remember to utilize a custom motion state along with `ChangedWorldPose` in `main`. The goal is to capture only link that move during a step. Here is the `BulletMotionState` from Gazebo...

Another known issue is related to the diff_drive_skid example in ign-gazebo. More information here: https://github.com/ignitionrobotics/ign-physics/pull/208#pullrequestreview-657257121

I'm not sure why a graph is required. The microphone and source both have a pose in the world. You can compute the Euclidean distance between a microphone and all...

Making a note that noise is also not yet applied to the orientation of an IMU.

Something to look into: https://docs.buf.build/introduction