-
Notifications
You must be signed in to change notification settings - Fork 276
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Signed-off-by: Ian Chen <[email protected]>
- Loading branch information
Showing
19 changed files
with
440 additions
and
29 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,291 @@ | ||
| <?xml version="1.0" ?> | ||
| <!-- | ||
| Example showing the usage of the Doppler Velocity Log (DVL) sensor | ||
| on an Autonomous Underwater Vehicle (AUV). | ||
| The world contains the MBARI Tethys LRAUV model along with | ||
| the following plugins: | ||
| * Buoyancy: applies buoyancy forces | ||
| * DopplerVelocityLogSystem: sensor to measure doppler velocity | ||
| * JointPositionController: controls the vertical and horizontal fins | ||
| * LiftDrag: generates forces on the vertical and horizontal fins | ||
| * Thruster: propels the vehicle | ||
| * Hydrodynamics: applies forces such as added mass, drag and coriolis | ||
| The AUV can be controlled using the following commands (to move in a circle): | ||
| 1. Move the rudder: | ||
| gz topic -t /model/tethys/joint/vertical_fins_joint/0/cmd_pos \ | ||
| -m gz.msgs.Double -p 'data: -0.17' | ||
| 2. Propel the vehicle: | ||
| gz topic -t /model/tethys/joint/propeller_joint/cmd_thrust \ | ||
| -m gz.msgs.Double -p 'data: -31' | ||
| To see the DVL output run the following command: | ||
| 3. gz topic -t /dvl/velocity -e | ||
| --> | ||
| <sdf version="1.6"> | ||
| <world name="dvl_world"> | ||
| <scene> | ||
| <!-- For turquoise ambient to match particle effect --> | ||
| <ambient>0.0 1.0 1.0</ambient> | ||
| <!-- For default gray ambient --> | ||
| <background>0.0 0.7 0.8</background> | ||
|
|
||
| <grid>false</grid> | ||
| </scene> | ||
|
|
||
| <physics name="1ms" type="ode"> | ||
| <max_step_size>0.001</max_step_size> | ||
| <real_time_factor>1.0</real_time_factor> | ||
| </physics> | ||
| <plugin | ||
| filename="gz-sim-physics-system" | ||
| name="gz::sim::systems::Physics"> | ||
| </plugin> | ||
| <plugin | ||
| filename="gz-sim-sensors-system" | ||
| name="gz::sim::systems::Sensors"> | ||
| </plugin> | ||
| <plugin | ||
| filename="gz-sim-dvl-system" | ||
| name="gz::sim::systems::DopplerVelocityLogSystem"> | ||
| </plugin> | ||
| <plugin | ||
| filename="gz-sim-buoyancy-system" | ||
| name="gz::sim::systems::Buoyancy"> | ||
| <uniform_fluid_density>1000</uniform_fluid_density> | ||
| </plugin> | ||
| <plugin | ||
| filename="gz-sim-scene-broadcaster-system" | ||
| name="gz::sim::systems::SceneBroadcaster"> | ||
| </plugin> | ||
| <plugin | ||
| filename="gz-sim-contact-system" | ||
| name="gz::sim::systems::Contact"> | ||
| </plugin> | ||
| <plugin | ||
| filename="gz-sim-user-commands-system" | ||
| name="gz::sim::systems::UserCommands"> | ||
| </plugin> | ||
|
|
||
| <light type="directional" name="sun"> | ||
| <cast_shadows>true</cast_shadows> | ||
| <pose>0 0 10 0 0 0</pose> | ||
| <diffuse>1 1 1 1</diffuse> | ||
| <specular>0.5 0.5 0.5 1</specular> | ||
| <attenuation> | ||
| <range>1000</range> | ||
| <constant>0.9</constant> | ||
| <linear>0.01</linear> | ||
| <quadratic>0.001</quadratic> | ||
| </attenuation> | ||
| <direction>-0.5 0.1 -0.9</direction> | ||
| </light> | ||
|
|
||
| <!-- This invisible plane helps with orbiting the camera, especially at large scales --> | ||
| <model name="horizontal_plane"> | ||
| <static>true</static> | ||
| <link name="link"> | ||
| <visual name="visual"> | ||
| <geometry> | ||
| <plane> | ||
| <normal>0 0 1</normal> | ||
| <!-- 300 km x 300 km --> | ||
| <size>300000 300000</size> | ||
| </plane> | ||
| </geometry> | ||
| <transparency>1.0</transparency> | ||
| </visual> | ||
| </link> | ||
| </model> | ||
|
|
||
| <model name="sea_bottom"> | ||
| <static>true</static> | ||
| <pose>0 0 -100 0 0 0</pose> | ||
| <link name="link"> | ||
| <collision name="collision"> | ||
| <geometry> | ||
| <plane> | ||
| <normal>0 0 1</normal> | ||
| <!-- 300 km x 300 km --> | ||
| <size>300000 300000</size> | ||
| </plane> | ||
| </geometry> | ||
| </collision> | ||
| <visual name="visual"> | ||
| <material> | ||
| <ambient>0.5 0.5 0.5</ambient> | ||
| <diffuse>0.5 0.5 0.5</diffuse> | ||
| </material> | ||
| <geometry> | ||
| <plane> | ||
| <normal>0 0 1</normal> | ||
| <!-- 300 km x 300 km --> | ||
| <size>300000 300000</size> | ||
| </plane> | ||
| </geometry> | ||
| </visual> | ||
| </link> | ||
| </model> | ||
|
|
||
| <include> | ||
| <pose>0 0 -80 0 0 1.57</pose> | ||
| <uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri> | ||
|
|
||
| <experimental:params> | ||
| <sensor | ||
| element_id="base_link" action="add" | ||
| name="teledyne_pathfinder_dvl" | ||
| type="custom" gz:type="dvl"> | ||
| <pose degrees="true">-0.60 0 -0.16 0 0 180</pose> | ||
| <always_on>1</always_on> | ||
| <update_rate>1</update_rate> | ||
| <topic>/dvl/velocity</topic> | ||
| <gz:dvl> | ||
| <type>phased_array</type> | ||
| <arrangement degrees="true"> | ||
| <beam id="1"> | ||
| <aperture>2</aperture> | ||
| <rotation>45</rotation> | ||
| <tilt>30</tilt> | ||
| </beam> | ||
| <beam> | ||
| <aperture>2</aperture> | ||
| <rotation>135</rotation> | ||
| <tilt>30</tilt> | ||
| </beam> | ||
| <beam> | ||
| <aperture>2</aperture> | ||
| <rotation>-45</rotation> | ||
| <tilt>30</tilt> | ||
| </beam> | ||
| <beam> | ||
| <aperture>2</aperture> | ||
| <rotation>-135</rotation> | ||
| <tilt>30</tilt> | ||
| </beam> | ||
| </arrangement> | ||
| <tracking> | ||
| <bottom_mode> | ||
| <when>best</when> | ||
| <noise type="gaussian"> | ||
| <!-- +/- 0.4 cm/s precision at 10 m/s within 2 stddevs --> | ||
| <stddev>0.002</stddev> | ||
| </noise> | ||
| <visualize>false</visualize> | ||
| </bottom_mode> | ||
| </tracking> | ||
| <!-- Roughly 1 m resolution at a 100m --> | ||
| <resolution>0.01</resolution> | ||
| <maximum_range>100.</maximum_range> | ||
| <minimum_range>0.1</minimum_range> | ||
| <!-- ENU to SFM --> | ||
| <reference_frame>0 0 0 0 0 -1.570796</reference_frame> | ||
| </gz:dvl> | ||
| </sensor> | ||
| </experimental:params> | ||
|
|
||
| <!-- Odometry publisher --> | ||
| <plugin | ||
| filename="gz-sim-odometry-publisher-system" | ||
| name="gz::sim::systems::OdometryPublisher"> | ||
| </plugin> | ||
|
|
||
| <!-- Joint controllers --> | ||
| <plugin | ||
| filename="gz-sim-joint-position-controller-system" | ||
| name="gz::sim::systems::JointPositionController"> | ||
| <joint_name>horizontal_fins_joint</joint_name> | ||
| <p_gain>0.1</p_gain> | ||
| </plugin> | ||
|
|
||
| <plugin | ||
| filename="gz-sim-joint-position-controller-system" | ||
| name="gz::sim::systems::JointPositionController"> | ||
| <joint_name>vertical_fins_joint</joint_name> | ||
| <p_gain>0.1</p_gain> | ||
| </plugin> | ||
|
|
||
| <plugin | ||
| filename="gz-sim-thruster-system" | ||
| name="gz::sim::systems::Thruster"> | ||
| <namespace>tethys</namespace> | ||
| <use_angvel_cmd>0</use_angvel_cmd> | ||
| <joint_name>propeller_joint</joint_name> | ||
| <thrust_coefficient>0.004422</thrust_coefficient> | ||
| <fluid_density>1000</fluid_density> | ||
| <propeller_diameter>0.2</propeller_diameter> | ||
| </plugin> | ||
|
|
||
| <!-- Lift and drag --> | ||
|
|
||
| <!-- Vertical fin --> | ||
| <plugin | ||
| filename="gz-sim-lift-drag-system" | ||
| name="gz::sim::systems::LiftDrag"> | ||
| <air_density>1000</air_density> | ||
| <cla>4.13</cla> | ||
| <cla_stall>-1.1</cla_stall> | ||
| <cda>0.2</cda> | ||
| <cda_stall>0.03</cda_stall> | ||
| <alpha_stall>0.17</alpha_stall> | ||
| <a0>0</a0> | ||
| <area>0.0244</area> | ||
| <upward>0 1 0</upward> | ||
| <forward>1 0 0</forward> | ||
| <link_name>vertical_fins</link_name> | ||
| <cp>0 0 0</cp> | ||
| </plugin> | ||
|
|
||
| <!-- Horizontal fin --> | ||
| <plugin | ||
| filename="gz-sim-lift-drag-system" | ||
| name="gz::sim::systems::LiftDrag"> | ||
| <air_density>1000</air_density> | ||
| <cla>4.13</cla> | ||
| <cla_stall>-1.1</cla_stall> | ||
| <cda>0.2</cda> | ||
| <cda_stall>0.03</cda_stall> | ||
| <alpha_stall>0.17</alpha_stall> | ||
| <a0>0</a0> | ||
| <area>0.0244</area> | ||
| <upward>0 0 1</upward> | ||
| <forward>1 0 0</forward> | ||
| <link_name>horizontal_fins</link_name> | ||
| <cp>0 0 0</cp> | ||
| </plugin> | ||
|
|
||
| <!-- Hydrodynamics plugin--> | ||
| <plugin | ||
| filename="gz-sim-hydrodynamics-system" | ||
| name="gz::sim::systems::Hydrodynamics"> | ||
| <link_name>base_link</link_name> | ||
| <xDotU>-4.876161</xDotU> | ||
| <yDotV>-126.324739</yDotV> | ||
| <zDotW>-126.324739</zDotW> | ||
| <kDotP>0</kDotP> | ||
| <mDotQ>-33.46</mDotQ> | ||
| <nDotR>-33.46</nDotR> | ||
| <xUabsU>-6.2282</xUabsU> | ||
| <xU>0</xU> | ||
| <yVabsV>-601.27</yVabsV> | ||
| <yV>0</yV> | ||
| <zWabsW>-601.27</zWabsW> | ||
| <zW>0</zW> | ||
| <kPabsP>-0.1916</kPabsP> | ||
| <kP>0</kP> | ||
| <mQabsQ>-632.698957</mQabsQ> | ||
| <mQ>0</mQ> | ||
| <nRabsR>-632.698957</nRabsR> | ||
| <nR>0</nR> | ||
| </plugin> | ||
| </include> | ||
| </world> | ||
| </sdf> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.