Add LookupWheelSlip system

[iche033]

🎉 New feature

Summary

Adds a new LookupWheelSlip system that uses an 8 bit RGB lookup map for dynamically adjusting the wheel slip / friction params based on the position of the wheel links on the target region.

This system needs to be used together with the WheelSlip system. The systems work together as follows:

• LookupWheelSlip system reads lateral slip, longitudinal slip and friction values from the slip map texture's R, G, B channels respectively,
• In each iteration, the LookupWheelSlip system computes new slip and friction param values to apply to each wheel based on wheel pos and sets these new params to the gz-transport parameter registry
• WheelSlip system reads new updated values from the gz-transport parameter registry and updates the surface contact params in the physics engine (dartsim only)

Test it

Run the example lookup_wheel_slip.sdf world. This world has small -x gravity to simulate vehicle climbing up a hill so we can see the effect of wheelslip.

gz sim -v 4 -r lookup_wheel_slip.sdf 

Publish commands to move the two vehicles forward

gz topic -t "/model/vehicle_green/cmd_vel" -m gz.msgs.Twist -p "linear: {x: 1.0}"
gz topic -t "/model/vehicle_blue/cmd_vel" -m gz.msgs.Twist -p "linear: {x: 1.0}"

The blue vehicle has the LookupWheelSlip plugin attached so when it traverses over the slip regions (green), the wheels' longitudinal slip compliance values get dynamically adjusted (increased), i.e vehicle right wheel slips it comes into contact with the slip region causing it to turn to the right. Similar behavior when the left wheel enters the slip region.

The green vehicle has fixed slip compliance parameters and so the behavior remains consistent, i.e. drives in a straight line

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
• Was GenAI used to generate this PR? If so, make sure to add "Generated-by" to your commits. (See this policy for more info.)

Generated-by: Remove this if GenAI was not used.

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by and Generated-by messages.

[iche033]

The homebrew build failure should be fixed by #3032

[jennuine]

LGTM, some minor nits on docs. Thanks Ian!

[iche033]

I think the EntityComponentManagerRepeat and UtilTest.ResolveSdfWorldFile homebrew test failures are unrelated as they are also happening in other PRs, merging