Add EntitySemantics system that enables setting categories and tags

[azeey]

🎉 New feature

Summary

System for assigning semantics to entities, such as models, by classifying them into categories and assigning them tags.

Reference:
https://github.com/ros-simulation/simulation_interfaces/blob/1.0.0/msg/EntityCategory.msg,
https://github.com/ros-simulation/simulation_interfaces/blob/1.0.0/msg/TagsFilter.msg

This system is meant to be attached to a <world>, but it parses parameters
found in entities such as models.

Example:

<model name="robot1">
  <gz:semantics>
    <category>ROBOT</category>
    <tag>mobile</tag>
    <tag>diff_drive</tag>
  </gz:semantics>
</model>

This is a nice to have for gazebosim/ros_gz#790 in order to implement the GetEntityInfo service as well as to allow filtering based on categories and tags in GetEntities

Test it

bin/INTEGRATION_entity_semantics_system 

Future work:

• Service to set categories dynamically. This would be used to implement SetEntityInfo
• Potentially consolidate this and the Label system which is used to add semantic labels to visuals for segmentation.

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
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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]

This patch updates the bazel build to include the new entity_semantics system. We can include it here or submit another PR for this.

bazel.patch

diff --git a/BUILD.bazel b/BUILD.bazel
index 5fbd1714d..a09fe2810 100644
--- a/BUILD.bazel
+++ b/BUILD.bazel
@@ -701,6 +701,26 @@ gz_sim_system_libraries(
 #     ],
 # )
 
+gz_sim_system_libraries(
+    srcs = glob(
+        [
+            "src/systems/entity_semantics/**/*.cc",
+            "src/systems/entity_semantics/**/*.hh",
+        ],
+    ),
+    so_lib_name = "gz-sim-entity-semantics-system.so",
+    static_lib_name = "gz-sim-entity-semantics-system-static",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":gz-sim",
+        "@gz-common",
+        "@gz-common//profiler",
+        "@gz-plugin//:register",
+        "@gz-transport",
+        "@sdformat",
+    ],
+)
+
 gz_sim_system_libraries(
     srcs = glob(
         [

[iche033]

windows CI picked up a warning here:

C:\J\workspace\gz_sim-pr-cnlwin\ws\src\gz-sim\src\systems\entity_semantics\EntitySemantics.cc(70,6): error C2653: 'EntitySemantics': is not a class or namespace name [C:\J\workspace\gz_sim-pr-cnlwin\ws\build\gz-sim\src\systems\entity_semantics\gz-sim-entity-semantics-system.vcxproj]

[azeey]

Hopefully fixed by 6cc2ac6

[azeey]

Thanks for the Bazel patch: 9097a00

[iche033]

The EntityComponentManagerRepeat and UtilTest.ResolveSdfWorldFile homebrew test failures started popping up recently and are happening in other builds, e.g. #3003, so I think they are unrelated to this PR.

Comments addressed.