[Simulation Interfaces] Support for Worlds

[norbertprokopiuk]

What does this PR do?

This PR adds support to Worlds introduced by the simulation_interfaces standard. This PR is created based on version of the standard which is going to be published on ROS 2 humble/jazzy/kilted (ros-simulation/simulation_interfaces#15)

How was this PR tested?

Test performed by calling ROS 2 services, running existing tests ensuring none of them was broken during development of the support for Worlds

[norbertprokopiuk]

Force pushed to resolve conflicts with the development branch

[jhanca-robotecai]

Great work! The code works as expected and I could only find some details to complain about. You might want to implement some of the suggestions.

The only problem I have are tests. They fail on my machine:

145/146 Testing: Gem::SimulationInterfaces.TestApp.main::TEST_RUN
145/146 Test: Gem::SimulationInterfaces.TestApp.main::TEST_RUN
Command: "/home/jhanca/devroot/projects/AllTemplates2510/build/dev/bin/profile/AzTestRunner" "/home/jhanca/devroot/projects/AllTemplates2510/build/dev/bin/profile/libSimulationInterfaces.TestApp.so" "AzRunUnitTests" "--gtest_output=xml:/home/jhanca/devroot/projects/AllTemplates2510/build/dev/Testing/Gtest/Gem_SimulationInterfaces.TestApp.xml" "--gtest_filter=-*SUITE_smoke*:*SUITE_periodic*:*SUITE_benchmark*:*SUITE_sandbox*:*SUITE_awsi*" "--platform" "minimal"
Directory: /home/jhanca/devroot/projects/AllTemplates2510/build/dev/External/SimulationInterfaces-efb1f50b/Code
"Gem::SimulationInterfaces.TestApp.main::TEST_RUN" start time: Aug 26 18:34 CEST
Output:
----------------------------------------------------------
cwd = /home/jhanca/devroot/projects/AllTemplates2510/build/dev/External/SimulationInterfaces-efb1f50b/Code
LIB: /home/jhanca/devroot/projects/AllTemplates2510/build/dev/bin/profile/libSimulationInterfaces.TestApp.so
Loading: /home/jhanca/devroot/projects/AllTemplates2510/build/dev/bin/profile/libSimulationInterfaces.TestApp.so
OKAY Library loaded: /home/jhanca/devroot/projects/AllTemplates2510/build/dev/bin/profile/libSimulationInterfaces.TestApp.so
OKAY Symbol found: AzRunUnitTests
Note: Google Test filter = -*SUITE_smoke*:*SUITE_periodic*:*SUITE_benchmark*:*SUITE_sandbox*:*SUITE_awsi*
[==========] Running 1 test from 1 test suite.
[----------] Global test environment set-up.
[----------] 1 test from SimulationInterfaceTestFixture
[ RUN      ] SimulationInterfaceTestFixture.SpawnAppTest
/home/jhanca/devroot/2510/o3de-extras/Gems/SimulationInterfaces/Code/Tests/Tools/SimulationIterfaceAppTest.cpp:91: Failure
Value of: completed
  Actual: false
Expected: true

/home/jhanca/devroot/2510/o3de-extras/Gems/SimulationInterfaces/Code/Tests/Tools/SimulationIterfaceAppTest.cpp:108: Failure
Value of: completed2
  Actual: false
Expected: true

/home/jhanca/devroot/2510/o3de-extras/Gems/SimulationInterfaces/Code/Tests/Tools/SimulationIterfaceAppTest.cpp:116: Failure
Expected equality of these values:
  entities.size()
    Which is: 0
  1

/home/jhanca/devroot/2510/o3de-extras/Gems/SimulationInterfaces/Code/Tests/Tools/SimulationIterfaceAppTest.cpp:118: Failure
Value of: entities.empty()
  Actual: true
Expected: false
Simulated Entities Empty

[  FAILED  ] SimulationInterfaceTestFixture.SpawnAppTest (5 ms)
[----------] 1 test from SimulationInterfaceTestFixture (5 ms total)

[----------] Global test environment tear-down
<end of output>
Test time =   0.61 sec
----------------------------------------------------------
Test Failed.
"Gem::SimulationInterfaces.TestApp.main::TEST_RUN" end time: Aug 26 18:34 CEST
"Gem::SimulationInterfaces.TestApp.main::TEST_RUN" time elapsed: 00:00:00
----------------------------------------------------------

[norbertprokopiuk]

@jhanca-robotecai This test you mentioned, passes on my machine. This test uses Asset TestSimulationEntity.prefab which needs to be processed correctly. I assume asset on your machine might be unprocessed or invisible for the test runner. It would be great if you could confirm that the issue preserves after clean rebuild of the assets

I also added changes for all your other comments

[norbertprokopiuk]

@jhanca-robotecai I noticed some miss-match between this implementation and the standard. This note is related resetting simulation with SCOPE_ALL. Standard says that this reset supposed to restore simulation as it would be closed and started again. Previously this reset always caused reload of level, even if simulator started without loaded level. I added one commit which fixes this behaviour, and reloads level only if simulator started with loaded level. If level wasn't loaded at launch level is unloaded and reset finishes in state NO_WORLD_LOADED. It would be great if you could check out my latest changes

[jhanca-robotecai]

Thank you for fixing the nitpicks!

As for the tests: rebuiding the simulation after your force-push fixed the issue on my side. Most probably the assets were not fully build when I tried the first time. Sorry for the confusion.