WIP: Implement gz sdf as standalone executable

[scpeters]

🎉 New feature

Part of gazebosim/gz-tools#7.

Summary

This is a work-in-progress to implement the gz sdf functionality in a standalone executable (similar to gazebosim/gz-transport#216). The standalone executable has added alongside the existing approach. Once the standalone executable is complete and functioning, the old approach should be removed.

This is not targeting the first release of Gazebo Ionic.

Test it

Use UNIT_gz_TEST as the guide.

Checklist

• Signed all commits for DCO
• 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)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[scpeters]

this is in progress. as of d823820, the src/gz.cc and src/gz.hh files are duplicated into the src/cmd folder and a standalone executable is built and installed into libexec but not yet called by the src/cmd/cmdsdformat.in ruby file. At the time, I found it easier to test this way, but now that Ionic has been released, it may be a good time to update the ruby file to invoke the standalone executable (see cmdplugin.rb.in) so that UNIT_gz_TEST will invoke the standalone executable. That test is pretty thorough and should be able to guide most of the conversion effort

[sauk2]

this is in progress. as of d823820, the src/gz.cc and src/gz.hh files are duplicated into the src/cmd folder and a standalone executable is built and installed into libexec but not yet called by the src/cmd/cmdsdformat.in ruby file. At the time, I found it easier to test this way, but now that Ionic has been released, it may be a good time to update the ruby file to invoke the standalone executable (see cmdplugin.rb.in) so that UNIT_gz_TEST will invoke the standalone executable. That test is pretty thorough and should be able to guide most of the conversion effort

@scpeters I raised a PR into this branch with the pending changes. If you could take a look at #1489

[azeey]

Not sure why we're adding these files when they're already in src.

[scpeters]

I had initially added them separately while prototyping so that I could run the standalone executable side-by-side with the ruby script. My goal was to eventually match the file layout used by gz-transport with gz.* in src/cmd/:

• https://github.com/gazebosim/gz-transport/tree/gz-transport14/src/cmd