Possibly adding a Gateway demo

[ana-GT]

Feature description

A few weeks ago, the Gateway model (.glb) was uploaded in the NASA-3D-Resources github repo. Based on this file, our team created a ROS2 package that allows loading the robot in Rviz and move the joints of any of the 2 arms mounted (big and small arm).

We are considering - if time and resources allow - to further try to create a Gazebo simulation of the Gateway. I am opening this Issue just to check in case somebody within the space-ros community is already doing something similar, as to avoid repeating efforts.

Our repo is here: https://github.com/traclabs/gateway_demos and an image of the Gateway in Rviz is attached:

Implementation considerations

Adding xacro/launch/config files.

[ana-GT]

Just an update on this Issue: We have been recently upgrading some of our code to Jazzy; in the process, we upgraded our Gateway model to be usable with Gazebo Harmonic (here). Video below shows both arms moving around. The big arm wobbles a tiny bit - not much different from the canadarm - but other than that, it seems to work okay.

gateway_issue_update_5x.mp4

[ivanperez-keera]

I think this would be great to add to Space ROS.