v9.3.0

[drfenixion]

Improvements:

1. Add "Create custom world" tool based on Dynamic World Generator repo. It let you create Gazebo world with static and dynamic obstacles directly in RobotCAD.
2. Add Gazebo Harmonic install in docker of RobotCAD. Required for runtime gazebo display of "Create custom world tool".

Fixes:

1. Set git submodules to certain commit instead of last remote branch (fix error gotten from last controllers updates).
2. Filter new not adapted yet controller (fix error of new controller).
3. Add auto accept conda channels TOS (fix error docker build).
4. Fix mesa VK error (fix error docker build).

I Noticed that it is posible to collide your model to dynamic obstacles but dynamic obstacles will penetrate your model if dynamic obstacle iniciate touch with it (obstacle is moving, model is standing). I dont found a way to correct that behaviour. Looks likes this is trait of Gazebo with usage of set_pose service that used for moving dynamic obstacles.
Your model -> dynamic obstacle = collide
Dynamic obstacle -> Your model = penetrate
Static obstacles works ok.

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This discussion was created from the release v9.3.0.

[ali-pahlevani]

Great job.
For your information, there was an issue regarding the physics engine and sensors' plugin (in the empty world files for both gazebo versions) that I fixed them yesterday. They were necessary for having a correct simulation of the sensors.

[drfenixion]

@ali-pahlevani , Thanks for notify. It was already correct for Harmonic on my fork and for Fortress i fixed now.

[ali-pahlevani]

@ali-pahlevani , Thanks for notify. It was already correct for Harmonic on my fork and for Fortress i fixed now.

You're welcome.
Nice!