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Jeremy White ebd41fe0bb Bring back the gazebo plugins (#1063 )

The models and meshes are not included. We will need
to find an alternate way to reintegrate these and use them.

* Add simulation/gz_msgs back, and build with Gradle.

* Add back in the frc simulation plugins for gazebo.

* Add a new shared library, halsim_gazebo.

This library will become the interface between the
HAL sim layer and gazebo.

* Preserve the first channel number used in created Encoders in the Sim MockData.

This allows us to use the DIO channel number to connect with simulated encoders.

* Have the HAL Simulator set the reverse direction on creation.

This enables a simulator to be aware of the direction.

* Add a drive_motor plugin.

This is a bit of a 'magic' motor, which allows us to build robot
models that drive in a more realistic fashion.  It does this
by apply forces directly to the chassis, rather than relying on
the complex motion dynamics of a driven wheel.

This in turn allows the model to reduce wheel friction,
reducing scrub, and allowing for a more natural driving experience.

2018-06-30 00:45:21 -07:00

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gz_msgs

gz_msgs is a library that allows the transmission of messages to and from Java and C++ programs.

gz_msgs currently requires libprotobuf-dev on Debian like systems.

If it's not found via pkg-config, then it's build is diabled.

You can force it by specifying -PmakeSim on the gradle command line.

If you are installing FRCSim with the script, then this should have be done for you.

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gz_msgs

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