Enable sensors to override scene attributes

[athenaz2]

Environment

• OS Version: Ubuntu 22.04
• Source or binary build? Source build of Gazebo Harmonic

Description

An updated issue of #910. The goals is to enable sensors to override <scene> attributes (such as background color and ambient light values); a proposed solution is to create a boolean tag in <plugin filename="MinimalScene" name="3D View"> that explicitly overrides <scene> attributes.

• Expected behavior: The attributes (e.g., background_color and ambient_light values) in MinimalScene are used for GUI. The attributes (e.g., background and ambient values) in <scene> are used for sensors.
• Actual behavior: Currently, <scene>'s background and ambient values override MinimalScene's respective values; <scene>'s values are used for the GUI instead of MinimalScene's.

Steps to reproduce

sensors_demo.sdf.txt

1. Run the attached SDF file (which is sensors_demo.sdf with a <scene> tag added).
2. Note that <scene>'s background value is green, and both the GUI and sensor backgrounds are green. MinimalScene's background_color value, which is light grey, is not used for GUI.

Output