Migrate dave_worlds from catkin to ament_cmake for ROS 2

[vinaya-53]

• Replaced catkin buildtool with ament_cmake in CMakeLists.txt
• Updated package.xml from format 2 to format 3
• Changed to <exec_depend> (install-only package, no C++ code)
• Fixed install destination from ${CATKIN_PACKAGE_SHARE_DESTINATION} to share/${PROJECT_NAME}

Tested: colcon build --packages-select dave_worlds passes on ROS 2 Humble.

This is part of a series of ROS 2 migration patches. More to follow.

[woensug-choi]

@vinaya-53 Hi! Thank you for the PR! Are you aware of https://dave-ros2.notion.site

[vinaya-53]

@vinaya-53 Hi! Thank you for the PR! Are you aware of https://dave-ros2.notion.site

hey! I was looking for an underwater env for expanding my VIO project to SLAM , ros2 availability is a big issue as this version provides much more update rate and model rendering . dave is really a good head start for that but I wasn't aware if there was ongoing migration work taking place may i know the current status plz?

[woensug-choi]

@vinaya-53 The https://dave-ros2.notion.site represents an effort to migrate to ROS2, supported by Google Summer of Code for the past two summers. While not all legacy DAVE components are being ported, the basic structures are already in place along with some new updates. I am planning to rebrand DAVE to something new (I haven't come up with a name yet, as I am hoping to find a sponsor before finalizing it) alongside the ROS2 Lyrical / Gazebo Jetty update this summer. If there's anything missing that you need on SLAM project at current https://dave-ros2.notion.site, I would love to add it in the initial release of the new package.

[vinaya-53]

@vinaya-53 The https://dave-ros2.notion.site represents an effort to migrate to ROS2, supported by Google Summer of Code for the past two summers. While not all legacy DAVE components are being ported, the basic structures are already in place along with some new updates. I am planning to rebrand DAVE to something new (I haven't come up with a name yet, as I am hoping to find a sponsor before finalizing it) alongside the ROS2 Lyrical / Gazebo Jetty update this summer. If there's anything missing that you need on SLAM project at current https://dave-ros2.notion.site, I would love to add it in the initial release of the new package.

Happy to suggest some things from my previous project experience, previously I used some purchased underwater terrain model and build the entire sea model combining them ,it wasnt very uniform but worked for a vio project , the most important thing is non uniform sand/terrain texture that will help a lot in visual feature extraction , another thing is camera update rate it must be about 40 + hz for good results. I can suggest more but for initial version these are enough