[Garden] Port WAMV-V xacro files and generation script

vrx_gz/CMakeLists.txt

@@ -99,9 +99,11 @@ install(
 # Plugins
 list(APPEND VRX_GZ_PLUGINS
   AcousticPingerPlugin
+  BallShooterPlugin
   LightBuoyPlugin
-  PerceptionScoringPlugin
   NavigationScoringPlugin
+  PerceptionScoringPlugin
+  PlacardPlugin
   SimpleHydrodynamics
   StationkeepingScoringPlugin
   Surface

vrx_gz/launch/competition.launch.py

@@ -30,6 +30,7 @@ def launch(context, *args, **kwargs):
         'bridge_competition_topics').perform(context).lower() == 'true'
     robot = LaunchConfiguration('robot').perform(context)
     headless = LaunchConfiguration('headless').perform(context).lower() == 'true'
+    robot_urdf = LaunchConfiguration('urdf').perform(context)
 
     launch_processes = []
 
@@ -39,6 +40,8 @@ def launch(context, *args, **kwargs):
             models = Model.FromConfig(stream)
     else:
       m = Model('wamv', 'wam-v', [-532, 162, 0, 0, 0, 1])
+      if robot_urdf and robot_urdf != '':
+          m.set_urdf(robot_urdf)
       models.append(m)
 
     launch_processes.extend(vrx_gz.launch.simulation(world_name, headless))
@@ -81,5 +84,9 @@ def generate_launch_description():
             'headless',
             default_value='False',
             description='True to run simulation headless (no GUI). '),
+        DeclareLaunchArgument(
+            'urdf',
+            default_value='',
+            description='URDF file of the wam-v model. '),
         OpaqueFunction(function=launch),
     ])

vrx_gz/models/dock_2022/model.config

@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<model>
+  <name>robotx_dock_2022</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>Carlos Agüero</name>
+    <email>caguero@openrobotics.org</email>
+  </author>
+
+  <description>
+    The dock used in RobotX 2022.
+  </description>
+</model>