[Garden] Port AcousticPinger plugin

[caguero]

This pull request ports the AcousticPingerPlugin to Gazebo.

How to test it?

1. Run the simulation loading the new gymkhana_task world:

ros2 launch vrx_gz competition.launch.py world:=gymkhana_task

2. On a separate terminal echo the pinger topic:

ros2 topic echo /wamv/pingers/pinger/range_bearing

The pinger is located 2 meters below the red buoy. You should get a range of around 29m. You can also try rotating/translating the WAM-V to see how the angles change. Keep in mind that there's some noise applied.

3. You can also try changing the pinger position (for example to the origin):

ros2 topic pub /wamv/pingers/pinger/set_pinger_position --once geometry_msgs/msg/Vector3

4. Verify how the range changes accordingly.

[iche033]

works for me