Add SwerveDrive system plugin

[C88-YQ]

🎉 New feature

Closes #3364
Related to gazebosim/gz-math#718

Summary

This PR introduces a new SwerveDrive system plugin to gz-sim, providing support for four-wheel independent steering (swerve / 4WISD) kinematics.

The new system:

• Supports four independently steerable wheels
• Computes steering angles and wheel velocities from cmd_vel input
• Publishes odometry based on wheel states
• Follows the architectural pattern of existing drive systems such as DiffDrive and MecanumDrive
• Includes integration tests and an example world file

Kinematic and odometry computation are handled by the SwerveDriveOdometry utility introduced in gz-math (gazebosim/gz-math#718).

This implementation does not modify existing drive systems and is fully backward compatible.

Test it

1. Make sure the corresponding gz-math PR has been merged (or build against a local branch containing SwerveDriveOdometry).
2. Build gz-sim
3. Run tests:

   ctest --output-on-failure

4. Manually test using the example world:

   gz sim swerve_drive.sdf

5. Publish velocity commands:

   gz topic -t "/model/vehicle_blue/cmd_vel" -m gz.msgs.Twist -p "linear: {y: 0.5}, angular: {z: 0.2}"

Checklist

• Signed all commits for DCO
• Added a screen capture or video to the PR description that demonstrates the feature
• 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)
• Updated Bazel files (if adding new files). Created an issue otherwise.
• While waiting for a review on your PR, please help review another open pull request to support the maintainers
• Was GenAI used to generate this PR? If so, make sure to add "Generated-by" to your commits. (See this policy for more info.)

swerve_drive.mp4

steering_motion.mp4

[C88-YQ]

This PR currently depends on the new SwerveDriveOdometry utility proposed in gz-math PR gazebosim/gz-math#718

Should I temporarily disable or stub the odometry part in gz-sim until the math PR is merged to keep CI fully independent?

[arjo129]

Thank you for your contribution. It is indeed a useful one. Can we consider targetting main instead of gz-sim10. Ive reviewed your gz-math pr. Its a great first attempt theres so\me minor issues with angle wrapping.

[strangerwhoisharborofdoom]

Great work on implementing the SwerveDrive plugin! This looks like a valuable addition to gz-sim's drive system plugins.

A few suggestions:

1. Documentation: The "Updated documentation" checkbox is unchecked. Do you plan to add docs for SwerveDrive similar to DiffDrive/MecanumDrive?

2. Testing: Consider adding edge case tests for zero velocity commands and maximum steering angles.

3. Example World: Consider adding comments in the .sdf file explaining key parameters for users.

The implementation follows existing drive system patterns well. Looking forward to seeing this merged!