Feature/simulator implementation ky #1
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2. Updated CMakeLists.txt files. 3. Initial implementation of real robot files (UNTESTED).
2. Added Apptainer definition files to allow building/testing with containers.
2. Added Ackermann steering control interface and real robot code. 3. Cleaned up code. 4. Fixed bugs related to Lua dependency (code doesn't actually need Lua).
…bot_implementation_ky
Since Ackermann steering doesn't yet exist in ARGoS3, generic classes are added for the time being under the argos3-deepracer repo. Once this is fully tested and works, a PR should be submitted to the `argos3` repo for integration. At this point, the integration should work out as follows:
- `plugins/robots/deepracer/control_interface/ci_ackermann_steering_actuator.*` -> `plugins/robots/generic/control_interface/ci_ackermann_steering_actuator.*`
- `plugins/robots/deepracer/simulator/ackermann_steering_default_actuator.*` -> `plugins/robots/generic/simulator/ackermann_steering_default_actuator.*`
- `plugins/robots/deepracer/simulator/dynamics2d_ackermannsteering_control.*` -> `plugins/simulator/physics_engines/dynamics2d/dynamics2d_ackermannsteering_control.*`
- `plugins/robots/deepracer/simulator/deepracer_imu_sensor_equipped_entity.*` -> `plugins/simulator/entities/imu_sensor_equipped_entity.*`
- `plugins/robots/deepracer/simulator/ackermann_wheeled_entity.*` -> `plugins/simulator/entities/ackermann_wheeled_entity.*`
Implementation is incomplete and untested. Currently only a bare-bones implementation to have structures/placeholders in place; not even ready for building.
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1. Updated the CI to use regular steering angle and throttle speed. 2. Fixed typo to avoid confusion in indicating vehicle speed from throttle (instead of 'throttled_speed' which could mean 'reduced speed', changed to 'throttle_speed'). 3. Updated Ackermann wheeled entity implementation to allow setting of steering and throttle.
The IMU sensor is inspired heavily by the [positioning sensor](https://github.com/ilpincy/argos3/blob/master/src/plugins/robots/generic/simulator/positioning_default_sensor.cpp). Accordingly the CI of the IMU sensor has also been updated. The `real_deepracer_imu_sensor` class hasn't been updated yet.
Build was successful, but code has not been tested on robot. Also fixed some variable names.
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…lator_implementation_ky
1. Modified shared ownership of node object (now a shared pointer) by the device classes. 2. Updated real robot version of the LIDAR sensor to allow sending of start and stop service requests. 3. Updated wheel placement positions. 4. Updated Apptainer image definition file for compiling ARGoS on a real robot.
1. Included .obj and .blend files. 2. Added new measurements and fixed LiDAR fan angle. 3. Updated dynamic model; collision shape is untested still. 4. Minor bugfixes.
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1. Collision, IMU sensor untested yet, but LIDAR seems fine. 2. Diffusion controller doesn't actually diffuse; only moves the robot. 3. .argos experiment file executes, but only contains a single robot.
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Simulation Lidar and IMU done. I'll update the README on the main repo