Populate JointTransmittedWrench from physics

[azeey]

🎉 New feature

Summary

This populates joint constraint wrenches from ign-physics. This is needed to implement Force/Torque sensors.

Needs gazebosim/gz-physics#283

Test it

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• 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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[chapulina]

@azeey , can you comment on the relation between this PR and:

• Populate joint forces through physics #952
• Joint Force-Torque Systems Plugin #977

[azeey]

#952 populates forces in the DOF of the joint whereas this PR populates the constraint (non-DOF direction) wrench on the joint. This wrench will not (hopefully) include the commanded force in the DOF of the joint. #952 need gazebosim/gz-physics#143, which we're still trying to resolve.

#977 I believe is the ign-gazebo counter part to the ign-sensors Force/Torque sensor.

[chapulina]

Thanks, so do both this PR and #952 work together, or do we have to choose one or the other?

And I see some overlap between #977 and this one. Is that a superset of this?

[chapulina]

I haven't tried running it but the code and test looks reasonable to me.

Can we add unit tests for the component in test/integration/components.cc? That would have caught the serialization typo

[azeey]

@osrf-jenkins run test

[azeey]

Looks like the prerelease repo is not enabled on CI, so it's using ignition-physics5 from nightlies. Do we need to enable prereleases?

[chapulina]

Looks like the prerelease repo is not enabled on CI,

Ahhhhh see gazebo-tooling/gzdev#35

[chapulina]

@osrf-jenkins run tests please

[codecov]

Codecov Report

Merging #989 (4131093) into main (c992f31) will increase coverage by 0.03%.
The diff coverage is 82.75%.

@@            Coverage Diff             @@
##             main     #989      +/-   ##
==========================================
+ Coverage   63.40%   63.43%   +0.03%     
==========================================
  Files         240      241       +1     
  Lines       19548    19577      +29     
==========================================
+ Hits        12394    12419      +25     
- Misses       7154     7158       +4     

Impacted Files	Coverage Δ
src/systems/physics/Physics.cc	70.95% <82.14%> (+0.37%)	⬆️
...nition/gazebo/components/JointTransmittedWrench.hh	100.00% <100.00%> (ø)

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