Add in Lunar world with representative terrain and lighting (resolves #…

…50)

lunarsim_demo/README.md

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+# LunarSim Demo
+[![Licence](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)\
+This folder containts three ROS2 packages for to enable simulation in a lunar environment, including a lunar gazebo world using a Digital Elevation Model (DEM) and a plugin for a dynamic sun model based on Ephemeris data.
+
+Instructions for building this package can be found in the space-ros-docker repo.
+
+## lunar_sun_gz_plugin
+This package contains a gazebo plugin to move an actor and create a light source at the location of the actor. 
+The plugin must be added to an actor named `animated_sun`, which can be done as follows:
+```
+<actor name="animated_sun">
+    <plugin name="LunarSun" filename="liblunar_sun_gz_plugin.so"/>
+    Other tags ...
+</actor>
+```
+The suns trajectory is based on the `horizons_az_el.csv` file. Detailed documentation on updating this can be found on the space-ros lunarsim docs page.
+
+## lunarsim_gz_worlds
+This package contains the lunarsim world files, including the world sdf, DEM files, textures and tools for creating textures. It also contains the `display.launch.py` launch file, which launches gazebo with the lenarsim world by default (but does not spawn the rover). For detailed documentation on updating DEM model and textures see the space-ros lunarsim docs page.
+
+## lunarsim_gz_bringup
+This package contains launch and configuration files to launch the lunarsim world and spawn [leo_rover](https://github.com/LeoRover) with keyboard controls. The `spawn_leo_robot.launch.py` spawns the leo model, starts`gz_bridge` and `key_teleop`. The `gz_bridge` parameters can be modified in the `leo_ros_gz_bridge.yaml` file in the config directory.
+
+Challenge Name: NASA Space ROS Sim Summer Sprint Challenge \
+Team Lead Freelancer Username: elementrobotics \
+Submission Title: LunarSim

lunarsim_demo/lunar_sun_gz_plugin/CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package leo_gz_plugins
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.0.0 (2023-11-08)
+------------------
+* Fix warning about unused parameter
+* Update rosdeps
+* Fix wrong import and code formatting
+* Simplify directives in diff system plugin
+* Add missing dependencies and better descriptions
+* Update hooks and naming conventions
+* CMakeLists cleanup
+* Fix CMakeLists.txt logic
+* Add default gazebo version as fortress
+* Update package.xml files and copyright notices
+* Update copyright notices
+* Format XML files
+* Add copyright notices
+* CI fix imports and whitespaces
+* Fix CI failure for launch and cpp files
+* Add CI (`#1 <https://github.com/LeoRover/leo_simulator-ros2/issues/1>`_)
+* Change project versions
+* Add package descriptions
+* Change diff system plugin to require one file
+* first semi-stable version
+* Contributors: Błażej Sowa, Jan Hernas

lunarsim_demo/lunar_sun_gz_plugin/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(lunar_sun_gz_plugin)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+add_library(lunar_sun_gz_plugin SHARED
+src/lunar_sun.cpp)
+
+if(DEFINED ENV{GZ_VERSION} AND "$ENV{GZ_VERSION}" STREQUAL "garden")
+  find_package(gz-plugin2 REQUIRED COMPONENTS register)
+  set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
+
+  find_package(gz-sim7 REQUIRED)
+  set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
+
+  target_link_libraries(lunar_sun_gz_plugin
+    gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
+    gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
+  )
+else()
+  #If GZ_VERSION is not set default to Fortress
+  find_package(ignition-plugin1 REQUIRED COMPONENTS register)
+  set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
+
+  find_package(ignition-gazebo6 REQUIRED)
+  set(IGN_GAZEBO_VER ${ignition-gazebo6_VERSION_MAJOR})
+
+  add_definitions(-DUSE_IGNITION)
+
+  target_link_libraries(lunar_sun_gz_plugin
+    ignition-gazebo${IGN_GAZEBO_VER}::ignition-gazebo${IGN_GAZEBO_VER}
+    ignition-plugin${IGN_PLUGIN_VER}::ignition-plugin${IGN_PLUGIN_VER}
+  )
+endif()
+
+set_property(TARGET lunar_sun_gz_plugin PROPERTY CXX_STANDARD 17)
+
+install(
+  TARGETS
+  lunar_sun_gz_plugin
+  DESTINATION lib
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/gz_sim_system_plugin_path.dsv")
+
+ament_package()

lunarsim_demo/lunar_sun_gz_plugin/hooks/gz_sim_system_plugin_path.dsv

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+prepend-non-duplicate;GZ_SIM_SYSTEM_PLUGIN_PATH;lib

lunarsim_demo/lunar_sun_gz_plugin/horizons_az_el.csv

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+Date__(UT)__HR:MN,Azimuth,Elevation
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