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Buoyancy plugin refactor #500

Merged
merged 16 commits into from
Sep 8, 2022
Merged

Buoyancy plugin refactor #500

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5b2521e
Improving world looking.
caguero Jul 12, 2022
2498b17
Move models to Fuel
caguero Jul 15, 2022
9bed1e3
Restoring coast_waves
caguero Jul 15, 2022
c85381a
Loading WAM-V
caguero Jul 25, 2022
06a6966
Merge from gazebosim
caguero Jul 25, 2022
ec51f48
Tweak CircleSegment
caguero Jul 25, 2022
84124d0
Tweak
caguero Jul 25, 2022
f12a95d
Wave plugin refactor.
caguero Aug 3, 2022
6fe9ebe
Porting buoyancy plugin from VRX.
caguero Aug 9, 2022
65abef5
All ported but not working.
caguero Aug 16, 2022
ca65751
Working wam-v
caguero Aug 18, 2022
57498a5
Clean
caguero Aug 19, 2022
2ec8259
Clean
caguero Aug 19, 2022
4f20d12
Replacing Surface with SimpleBuoyancy.
caguero Aug 22, 2022
19d536c
Renamed to PolyhedraBuoyancyDrag and adding better citations.
caguero Aug 31, 2022
7b68d65
Using surface plugin for WAM-V
caguero Sep 8, 2022
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23 changes: 20 additions & 3 deletions vrx_ign/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,8 @@ find_package(ignition-plugin1 REQUIRED COMPONENTS loader register)
set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
find_package(ignition-rendering6 REQUIRED)
set(IGN_RENDERING_VER ${ignition-rendering6_VERSION_MAJOR})
find_package(ignition-utils1 REQUIRED)
set(IGN_UTILS_VER ${ignition-utils1_VERSION_MAJOR})
find_package(sdformat12 REQUIRED)

find_package(std_msgs REQUIRED)
Expand All @@ -44,10 +46,25 @@ install(
TARGETS Waves
DESTINATION lib)

# Buoyancy
add_library(SimpleBuoyancy SHARED
src/SimpleBuoyancy.cc
src/PolyhedronVolume.cc
src/ShapeVolume.cc
)
target_link_libraries(SimpleBuoyancy PUBLIC
ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
ignition-gazebo${IGN_GAZEBO_VER}::core
ignition-math${IGN_MATH_VER}
Waves
)
install(
TARGETS SimpleBuoyancy
DESTINATION lib)

# Plugins
list(APPEND VRX_IGN_PLUGINS
SimpleHydrodynamics
Surface
WaveVisual
)

Expand All @@ -57,8 +74,9 @@ foreach(PLUGIN ${VRX_IGN_PLUGINS})
ignition-gazebo${IGN_GAZEBO_VER}::core
ignition-plugin${IGN_PLUGIN_VER}::ignition-plugin${IGN_PLUGIN_VER}
ignition-rendering${IGN_RENDERING_VER}::ignition-rendering${IGN_RENDERING_VER}
ignition-utils${IGN_UTILS_VER}::ignition-utils${IGN_UTILS_VER}
Waves
)
)
endforeach()

install(
Expand All @@ -78,5 +96,4 @@ install(DIRECTORY
launch
DESTINATION share/${PROJECT_NAME})


ament_package()
59 changes: 49 additions & 10 deletions vrx_ign/models/wam-v/model.sdf.erb
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Original file line number Diff line number Diff line change
Expand Up @@ -70,15 +70,54 @@ end
</plugin>

<plugin
filename="libSurface.so"
name="vrx::Surface">
<link_name>base_link</link_name>
<vehicle_length>4.9</vehicle_length>
<vehicle_width>2.4</vehicle_width>
<hull_radius>0.213</hull_radius>
<fluid_level>0</fluid_level>

<!-- Waves -->
filename="libSimpleBuoyancy.so"
name="vrx::SimpleBuoyancy">
<fluid_density>1000</fluid_density>
<fluid_level>0.0</fluid_level>
<linear_drag>20.0</linear_drag>
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<angular_drag>2.0</angular_drag>
<!-- Left Hull -->
<buoyancy name="left_hull_mid">
<link_name>base_link</link_name>
<pose>0.6 1.03 0.2 0 1.57 0</pose>
<geometry>
<cylinder>
<length>2</length>
<radius>0.2</radius>
</cylinder>
</geometry>
</buoyancy>
<buoyancy name="left_hull_rear">
<link_name>base_link</link_name>
<pose>-1.4 1.03 0.2 0 1.57 0</pose>
<geometry>
<cylinder>
<length>2</length>
<radius>0.2</radius>
</cylinder>
</geometry>
</buoyancy>
<!-- Right Hull -->
<buoyancy name="right_hull_mid">
<link_name>base_link</link_name>
<pose>0.6 -1.03 0.2 0 1.57 0</pose>
<geometry>
<cylinder>
<length>2</length>
<radius>0.2</radius>
</cylinder>
</geometry>
</buoyancy>
<buoyancy name="right_hull_rear">
<link_name>base_link</link_name>
<pose>-1.4 -1.03 0.2 0 1.57 0</pose>
<geometry>
<cylinder>
<length>2</length>
<radius>0.2</radius>
</cylinder>
</geometry>
</buoyancy>
<wavefield>
<size><%= $wavefield_size%> <%= $wavefield_size%></size>
<cell_count><%= $wavefield_cell_count%> <%=$wavefield_cell_count%></cell_count>
Expand All @@ -87,7 +126,7 @@ end
<period>5.0</period>
<number>3</number>
<scale>1.1</scale>
<gain>0.5</gain>
<gain>0.3</gain>
<direction>1 0</direction>
<angle>0.4</angle>
<tau>2.0</tau>
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