RoboBoat02 reference model

[caguero]

This pull request adds 2 of 2 of the RoboBoat reference models. I decided to add it to this repository to make it easier to modify by RoboBoat users, as opposed to upstreaming it to Fuel.

• Basic SDF.
• Collisions based on simple-shape geometries.
• Tweaked inertias
• Thruster plugin
• Hydrodynamics plugin
• Surface plugin attached to each pontoon.

How to test it?

Add the following block to worlds/sydney_regatta.sdf.

<!-- RoboBoat 02 -->
<include>
  <name>roboboat02</name>
  <pose>-528 180 0 0 0 0</pose>
  <uri>roboboat02</uri>
</include>

Recompile VRX and launch it:

GZ_VERSION=garden colcon build --merge-install
ros2 launch vrx_gz competition.launch.py world:=sydney_regatta

Spin the thrusters:

gz topic -t /model/roboboat02/joint/right_engine_propeller_joint/cmd_thrust -m gz.msgs.Double -p 'data: 1'

[j-herman]

As with roboboat01, the directional stability seems high, but everything is working ok.