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Support marsupial vehicles

Nathan Koenig requested to merge marsupial into develop

Context

We need to support:

ign launch -v 4 cave_circuit.ign  robotName1:=Xa robotConfig1:=X1_SENSOR_CONFIG_1 robotName2:=Xb robotConfig2:=X3_SENSOR_CONFIG_1 robotName3:=Xc robotConfig3:=X1_SENSOR_CONFIG_1 robotName4:=Xd robotConfig4:=X3_SENSOR_CONFIG_1 marsupial1:=Xa:Xb marsupial2:=Xc:Xd

Change

This parses the marsupial requests, and adds them to the commands passed to gzserver. We only check that the parent and child robots exists, not whether they are a valid pair. The latter is the job of gzserver.

Other information

Additional documentation

Edited by Marcos Huck

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