Add conversion for geometry_msgs/msg/TwistStamped <-> gz.msgs.Twist

[azeey]

🎉 New feature

Summary

There's an effort to migrate to using TwistStamped for cmd_vel messages (see ros-navigation/navigation2#1594). This PR adds a converter for gz.msgs.Twist since it already has the header information (see twist.proto).

I've also done some cleanup and regenerated the conversion table.

Test it

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.

cc @SteveMacenski

[SteveMacenski]

Can't comment on the technical completeness, but great to see! Is the plan to backport this to whatever is running on Humble / Iron today?

[azeey]

Can't comment on the technical completeness, but great to see! Is the plan to backport this to whatever is running on Humble / Iron today?

Yes, I'll go ahead and backport it to the humble and iron branches.

[SteveMacenski]

OK. Can you email me once this is in binaries for Rolling at the very least?

[Ryanf55]

This is excellent to see. This was one of the biggest risks to my choice to use TwistStamped in ArduPilot and NAV2 for our GSoC project. Thank you to everyone involved here in making this happen in ros_gz before the API freeze in J-Turtle.
@srmainwaring FYI let's keep tabs on the backport and next humble sync.

[AltinayGrass]

Is there any plan for "gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_planar_move.cpp" ?