CanonicalLink updates

[diegoferigo]

There is some upstream activity in gazebosim/gz-sim#736 that touches the CanonicalLink component. Refer to gazebosim/gz-sim#736 (comment) and other comments.

Changes will not break the functionality within Edifice (the target branch of the PR) and nothing will stop working from our side, though I open this issue as reminder to check what's the outcome of the PR and adapt, if needed, align our logic. Currently, our devel branch supports Edifice.

Currently we use the CanonicalLink component in the following methods:

• Model::resetBasePose
• Model::resetBaseWorldVelocity
• Model::baseFrame
• Model::baseWorldLinearVelocity

[adlarkin]

Just so you're aware, we changed how things were implemented in gazebosim/gz-sim#736 so that the CanonicalLink component remains unchanged (gazebosim/gz-sim#736 (comment)). So, hopefully, you don't need to change anything 🙂

[diegoferigo]

Hi @adlarkin, thanks for chiming in! Awesome, it seems a much more neat and future proof solution moving the logic into the Physics system. Great work! Closing.