Minimal viable booster framework (#2100)

* write `booster_low_level_interface` trait

Co-authored-by: pejotejo <149575214+pejotejo@users.noreply.github.com>

* make things irish

* better naming and docs

Co-authored-by: pejotejo <149575214+pejotejo@users.noreply.github.com>

better naming and docs

Co-authored-by: pejotejo <149575214+pejotejo@users.noreply.github.com>

* add `serde_transform_isometry` module

* impl `HardwareInterface` for mujoco

Add mujoco connection test

Add time stamped message type

--wip--

* ROS2 and zed camera message types

* hulk_mujoco: impl `RGBDSensorsInterface`

* Refactor `SimulationMessage`

* Minimal viable framework using booster interface for mujoco

Co-authored-by: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com>
Co-authored-by: Julian Schuler <31921487+julianschuler@users.noreply.github.com>
Co-authored-by: knoellle <33729490+knoellle@users.noreply.github.com>

* Retry connecting to websocket

Co-authored-by: knoellle <33729490+knoellle@users.noreply.github.com>

* Use correct message type for `tf` low interface topic

* Address @knoellle review comments

* Address @oleflb review comments

* Format

* Move `SimulationMessage` into its own crate

* Readd tests to CI excluding bevyhavior simulator

---------

Co-authored-by: vivi-enne <vivienne.schwabe@tuhh.de>
Co-authored-by: pejotejo <149575214+pejotejo@users.noreply.github.com>
Co-authored-by: Rasmus Mecklenburg <42248344+rmburg@users.noreply.github.com>
Co-authored-by: Julian Schuler <31921487+julianschuler@users.noreply.github.com>
Co-authored-by: knoellle <33729490+knoellle@users.noreply.github.com>

Author: 6 people

.github/workflows/pull-request.yml

@@ -107,7 +107,7 @@ jobs:
         with:
           lfs: true
       - name: Test
-        run: ./pepsi test --locked --all-features
+        run: ./pepsi test --locked --all-features --workspace --exclude bevyhavior_simulator 
 
   build:
     name: Build
@@ -116,9 +116,8 @@ jobs:
       matrix:
         target:
           - imagine
-          - nao
           - replayer
-          - webots
+          - mujoco
         profile:
           - dev
           - release