Robot spawner services

[cychitivav]

This pull request introduces dynamic UAV spawning and removal capabilities to the simulator, along with the necessary ROS 2 service infrastructure. The main changes include the addition of Spawn and Kill services, updates to the build configuration to support ROS 2 interface generation, and modifications to the UAV system to support runtime configuration of UAV parameters.

• Added new ROS 2 services for spawning and killing UAVs (srv/Spawn.srv, srv/Kill.srv) and implemented their handlers in the simulator, allowing UAVs to be created and removed at runtime with specified parameters.
• Introduced the SpawnParams_t struct and updated UavSystemRos_CommonHandlers_t to optionally include dynamic spawn parameters, enabling UAVs to use runtime-specified type, position, and heading.
• Updated CMakeLists.txt and package.xml to include ROSIDL dependencies and interface generation, ensuring service definitions are built and available at runtime. Linked the generated ROSIDL typesupport library to simulator targets for proper service handling.
• Added a getUavName() method to UavSystemRos for easier identification and management of UAV instances, used in service handlers to check for existing UAVs and remove them.
• Improved collision handling and pose publishing logic to gracefully handle cases when no UAVs are present.

[Copilot]

Pull request overview

This PR adds ROS 2 service APIs to dynamically spawn and remove UAV instances in mrs_multirotor_simulator, and extends the UAV system to optionally initialize from runtime-provided spawn parameters instead of static config.

Changes:

• Added new ROS 2 services: Spawn (type/name/pose/heading) and Kill (by name), with simulator handlers that create/remove UavSystemRos instances at runtime.
• Extended UavSystemRos initialization via optional SpawnParams_t (dynamic type + spawn pose/heading) and added getUavName() for instance identification.
• Updated build system (CMakeLists.txt, package.xml) to generate and link ROSIDL service interfaces.

Reviewed changes

Copilot reviewed 7 out of 7 changed files in this pull request and generated 6 comments.

Show a summary per file

File	Description
srv/Spawn.srv	Defines request/response schema for dynamic UAV creation.
srv/Kill.srv	Defines request/response schema for UAV removal by name.
include/mrs_multirotor_simulator/uav_system_ros.h	Adds SpawnParams_t, optional spawn params in handlers, and getUavName().
src/uav_system_ros.cpp	Uses optional spawn params for type and initial pose/heading; adds getUavName() implementation.
src/multirotor_simulator.cpp	Registers Spawn/Kill services and implements callbacks; adds empty-UAV collision guard.
CMakeLists.txt	Adds ROSIDL interface generation and links typesupport to simulator targets.
package.xml	Adds ROSIDL generator/runtime dependencies for service generation and runtime availability.

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[klaxalk]

Hey, very interesting addition. Could you please rework it such that the message and service definition is place in the mrs_msgs package?

[cychitivav]

Hey, very interesting addition. Could you please rework it such that the message and service definition is place in the mrs_msgs package?

Done, ctu-mrs/mrs_msgs#18

[cychitivav]

@klaxalk, I noticed that the PR in mrs_msgs has already been merged, while this one is still open. Could you please let me know if there’s anything else I should refactor or update here?

[klaxalk]

@cychitivav thanks for reminding me. I am going to check if this does not break anything downstream (the flightforge simulator) and then I am gonna merge it.