Support loading Projectors

[iche033]

🎉 New feature

Depends on

• Add Projector gz-rendering#845
• Add Projector DOM sdformat#1277

Summary

Added support for loading Projectors.

• Updated SdfEntityCreator to create projector entities
• Updated rendering component to load and create projector objects in the scene
• Updated scene broadcaster to publish scene info projectors
• Added conversion function for serializing / deserializing sdf::Projector to / from msgs::Projector

Test it

Added and updated various unit and integration tests

Run the demo world:

gz sim -v 4 projector.sdf

This should go and download the Camera with Projector from fuel. The model consists of 2 IR cameras, 1 IR pattern projector, and 1 RGB camera. The IR pattern should only be visible to the 2 IR cameras and invisible to the RGB camera.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• 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.

[iche033]

still needs sdf13 release

[codecov]

Codecov Report

Merging #1979 (c5703ef) into gz-sim7 (bb85d05) will decrease coverage by 0.06%.
The diff coverage is 54.13%.

❗ Current head c5703ef differs from pull request most recent head 3c4e8c8. Consider uploading reports for the commit 3c4e8c8 to get more accurate results

@@             Coverage Diff             @@
##           gz-sim7    #1979      +/-   ##
===========================================
- Coverage    65.03%   64.97%   -0.06%     
===========================================
  Files          352      353       +1     
  Lines        28468    28600     +132     
===========================================
+ Hits         18513    18583      +70     
- Misses        9955    10017      +62     

Impacted Files	Coverage Δ
include/gz/sim/SdfEntityCreator.hh	100.00% <ø> (ø)
include/gz/sim/rendering/SceneManager.hh	100.00% <ø> (ø)
src/rendering/SceneManager.cc	30.90% <4.65%> (-0.92%)	⬇️
src/rendering/RenderUtil.cc	39.03% <30.00%> (-0.12%)	⬇️
src/Conversions.cc	83.66% <83.87%> (+<0.01%)	⬆️
src/systems/scene_broadcaster/SceneBroadcaster.cc	92.36% <95.00%> (+0.10%)	⬆️
include/gz/sim/components/Projector.hh	100.00% <100.00%> (ø)
src/SdfEntityCreator.cc	86.85% <100.00%> (+0.36%)	⬆️
src/Util.cc	91.38% <100.00%> (+0.09%)	⬆️

... and 1 file with indirect coverage changes