Add DiffDriveOdometry pybind11 interface and examples

[ahcorde]

Signed-off-by: ahcorde [email protected]

🎉 New feature

Summary

This PR creates a DiffDriveOdometry Pybind11 interface and adds examples

• Part of Create examples for all classes #300

Depends on

• Add Helpers pybind11 interface #313
• Added Angle Pybind11 interface #311

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• 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.

[codecov]

Codecov Report

Merging #314 (6b9c8d7) into ign-math6 (fc9fb78) will not change coverage.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           ign-math6     #314   +/-   ##
==========================================
  Coverage      99.65%   99.65%           
==========================================
  Files             67       67           
  Lines           6364     6364           
==========================================
  Hits            6342     6342           
  Misses            22       22           

---

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update fc9fb78...6b9c8d7. Read the comment docs.

[chapulina]

I pushed some formatting for the examples in 7870ccd, now they both should have similar output:

C++

--- Rotate both wheels by 1 degree. ---
  Linear velocity:  0.0872665 m/s
  Odom linear velocity: 0.0872665 m/s
Angular velocity should be zero since the "robot" is traveling
in a straight line:
  Odom angular velocity:  0 rad/s
--- This time rotate the right wheel by 1 degree. ---
The heading should be the arc tangent of the linear distance
traveled by the right wheel (the left wheel was stationary)
divided by the wheel separation.
  Heading:    0.0043633 rad
  Odom Heading:   0.00436332 rad
  X distance traveled:  0.0218166 m
  Odom X:   0.0218166 m
  Y distance traveled:  9.51916e-06 m
  Odom Y:   2.85578e-05 m
Angular velocity should be the difference between the x and y
distance traveled divided by the wheel separation divided by
the seconds elapsed.
  Angular velocity: 0.0217688 rad/s
  Odom angular velocity:  0.0218166 rad/s

Python:

--- Rotate both wheels by 1 degree. ---
  Linear velocity:  0.08726646259971647 m/s
  Odom linear velocity: 0.08726646259971647 m/s
Angular velocity should be zero since the "robot" is traveling
in a straight line:
  Odom angular velocity:  0 rad/s
--- This time rotate the right wheel by 1 degree. ---
The heading should be the arc tangent of the linear distance
traveled by the right wheel (the left wheel was stationary)
divided by the wheel separation.
  Heading:    0.004363295439797267 rad
  Odom Heading:   0.00436332 rad
  X distance traveled:  0.021816574114764897 m
  Odom X:   0.021816574114211357 m
  Y distance traveled:  9.519158445048248e-06 m
  Odom Y:   2.855783779653898e-05 m
Angular velocity should be the difference between the x and y
distance traveled divided by the wheel separation divided by
the seconds elapsed.
  Angular velocity: 0.02176881218188277 rad/s
  Odom angular velocity:  0.0218166 rad/s

I just have one question left

[osrf-triage]

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-ignition-releases-2022-03-01-citadel-edifice-fortress/1313/1