Maritime tutorials 💧 - Part 4 of 4 (#2260)

* Adding a maritime surface vehicle tutorial.
---------

Signed-off-by: Carlos Agüero <[email protected]>
Co-authored-by: Alejandro Hernández Cordero <[email protected]>
Co-authored-by: crvogt <[email protected]>
Co-authored-by: Ian Chen <[email protected]>

tutorials.md.in

@@ -95,7 +95,10 @@ for your model.
 * \subpage adding_system_plugins "Adding system plugins:" How to add plugins to
 your model to provide extra capabilities to it.
 * \subpage lander "Create a lander vehicle:" How to create a lander robot.
-* \subpage underwater_vehicles "Create an underwater vehicle:" How to create an underwater robot.
+* \subpage underwater_vehicles "Create an underwater vehicle:" How to create an
+underwater robot.
+* \subpage surface_vehicles "Create a surface vehicle:" How to create a maritime
+surface robot.
 
 ## License
 

tutorials/adding_system_plugins.md

@@ -131,7 +131,7 @@ gz sim -r ~/gazebo_maritime/worlds/buoyant_turtle.sdf
 ```
 
 Now, when our simple trajectory controller reaches its target and stops appling
-force, the turtle stops moving acting like the fluid decelerates its motion. 
+force, the turtle stops moving acting like the fluid decelerates its motion.
 Additionally you can notice how the up and down oscillations are also damped by
 the effect of the hydrodynamics.
 

tutorials/adding_visuals.md

@@ -11,7 +11,7 @@ mesh to our turtle, making it look much better.
 https://gazebosim.org/api/sim/8/meshtofuel.html
 
 The next tutorials, although still relevant, are from an older version of Gazebo
-and some details might be different than the current versions: 
+and some details might be different than the current versions:
 
 https://classic.gazebosim.org/tutorials?tut=import_mesh&cat=build_robot
 https://classic.gazebosim.org/tutorials?cat=guided_i&tut=guided_i2

tutorials/files/adding_system_plugins/buoyant_turtle.sdf

@@ -8,7 +8,7 @@
 
       <grid>false</grid>
     </scene>
-       
+
     <light type="directional" name="sun">
       <cast_shadows>true</cast_shadows>
       <pose>0 0 10 0 0 0</pose>
@@ -27,7 +27,7 @@
       filename="gz-sim-physics-system"
       name="gz::sim::systems::Physics">
     </plugin>
-    
+
     <plugin
       filename="gz-sim-buoyancy-system"
       name="gz::sim::systems::Buoyancy">
@@ -44,17 +44,17 @@
       filename="gz-sim-user-commands-system"
       name="gz::sim::systems::UserCommands">
     </plugin>
-    
+
     <plugin
       filename="gz-sim-scene-broadcaster-system"
       name="gz::sim::systems::SceneBroadcaster">
     </plugin>
-    
+
     <plugin
       filename="gz-sim-sensors-system"
       name="gz::sim::systems::Sensors">
     </plugin>
-    
+
     <gui fullscreen="0">
       <!-- 3D scene -->
       <plugin filename="MinimalScene" name="3D View">

tutorials/files/lander/buoyant_lander.sdf

@@ -6,7 +6,7 @@
       <ambient>0.0 1.0 1.0</ambient>
       <grid>false</grid>
     </scene>
-       
+
     <light type="directional" name="sun">
       <cast_shadows>true</cast_shadows>
       <pose>0 0 10 0 0 0</pose>
@@ -25,7 +25,7 @@
       filename="gz-sim-physics-system"
       name="gz::sim::systems::Physics">
     </plugin>
-    
+
     <plugin
       filename="gz-sim-buoyancy-system"
       name="gz::sim::systems::Buoyancy">
@@ -42,17 +42,17 @@
       filename="gz-sim-user-commands-system"
       name="gz::sim::systems::UserCommands">
     </plugin>
-    
+
     <plugin
       filename="gz-sim-scene-broadcaster-system"
       name="gz::sim::systems::SceneBroadcaster">
     </plugin>
-    
+
     <plugin
       filename="gz-sim-sensors-system"
       name="gz::sim::systems::Sensors">
     </plugin>
-    
+
     <gui fullscreen="0">
       <!-- 3D scene -->
       <plugin filename="MinimalScene" name="3D View">

tutorials/files/lander/inkfish-lander.dae

@@ -336,4 +336,4 @@
   <scene>
     <instance_visual_scene url="#Scene"/>
   </scene>
-</COLLADA>
+</COLLADA>

tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/CMakeLists.txt

@@ -0,0 +1,71 @@
+cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+
+project(gazebo_maritime)
+
+find_package(gz-sim8 REQUIRED)
+set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+find_package(gz-common5 REQUIRED COMPONENTS graphics)
+set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
+find_package(gz-math7 REQUIRED)
+set(GZ_MATH_VER ${gz-math7_VERSION_MAJOR})
+find_package(gz-msgs10 REQUIRED)
+set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
+find_package(gz-transport13 REQUIRED)
+set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})
+find_package(gz-plugin2 REQUIRED COMPONENTS loader register)
+set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
+find_package(gz-rendering8 REQUIRED)
+set(GZ_RENDERING_VER ${gz-rendering8_VERSION_MAJOR})
+find_package(gz-sensors8 REQUIRED)
+set(GZ_SENSORS_VER ${gz-sensors8_VERSION_MAJOR})
+find_package(gz-utils2 REQUIRED)
+set(GZ_UTILS_VER ${gz-utils2_VERSION_MAJOR})
+find_package(sdformat14 REQUIRED)
+find_package(Eigen3 REQUIRED)
+
+# Waves
+add_library(Waves SHARED
+  src/Wavefield.cc
+)
+target_link_libraries(Waves PUBLIC
+  Eigen3::Eigen
+  gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
+  gz-math${GZ_MATH_VER}
+  gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
+  gz-sim${GZ_SIM_VER}::core
+)
+install(
+  TARGETS Waves
+  DESTINATION lib)
+
+# Other plugins
+list(APPEND MARITIME_GZ_PLUGINS
+  PublisherPlugin
+  Surface
+  WaveVisual
+)
+
+foreach(PLUGIN ${MARITIME_GZ_PLUGINS})
+  add_library(${PLUGIN} SHARED src/${PLUGIN}.cc)
+  target_link_libraries(${PLUGIN} PUBLIC
+    Eigen3::Eigen
+    gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
+    gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER}
+    gz-sensors${GZ_SENSORS_VER}::gz-sensors${GZ_SENSORS_VER}
+    gz-sim${GZ_SIM_VER}::core
+    gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
+    gz-utils${GZ_UTILS_VER}::gz-utils${GZ_UTILS_VER}
+    Waves
+  )
+endforeach()
+
+install(
+  TARGETS ${MARITIME_GZ_PLUGINS}
+  DESTINATION lib)
+
+#============================================================================
+# Resources
+install(DIRECTORY
+  models
+  worlds
+  DESTINATION share/${PROJECT_NAME})

tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/materials/programs/GerstnerWaves_fs_330.glsl

@@ -0,0 +1,73 @@
+// Copyright (c) 2016 The UUV Simulator Authors.
+// All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#version 330
+
+////////// Input parameters //////////
+// Textures
+uniform sampler2D bumpMap;
+uniform samplerCube cubeMap;
+
+// Colors
+uniform vec4 deepColor;
+uniform vec4 shallowColor;
+uniform float fresnelPower;
+uniform float hdrMultiplier;
+
+////////// Input computed in vertex shader //////////
+in block
+{
+  mat3 rotMatrix;
+  vec3 eyeVec;
+  vec2 bumpCoord;
+} inPs;
+
+out vec4 fragColor;
+
+void main()
+{
+  // Apply bump mapping to normal vector to make waves look more detailed:
+  vec4 bump = texture(bumpMap, inPs.bumpCoord)*2.0 - 1.0;
+  vec3 N = normalize(inPs.rotMatrix * bump.xyz);
+
+  // Reflected ray:
+  vec3 E = normalize(inPs.eyeVec);
+  vec3 R = reflect(E, N);
+
+  // negate z for use with the skybox texture that comes with gz-rendering
+  R = vec3(R.x, R.y, -R.z);
+
+  // uncomment this line if using other textures that are Y up
+  // Gazebo requires rotated cube map lookup.
+  // R = vec3(R.x, R.z, R.y);
+
+  // Get environment color of reflected ray:
+  vec4 envColor = texture(cubeMap, R, 0.0);
+
+  // Cheap hdr effect:
+  envColor.rgb *= (envColor.r+envColor.g+envColor.b)*hdrMultiplier;
+
+  // Compute refraction ratio (Fresnel):
+  float facing = 1.0 - dot(-E, N);
+  float waterEnvRatio = clamp(pow(facing, fresnelPower), 0.05, 1.0);
+
+  // Refracted ray only considers deep and shallow water colors:
+  vec4 waterColor = mix(shallowColor, deepColor, facing);
+
+  // Perform linear interpolation between reflection and refraction.
+  vec4 color = mix(waterColor, envColor, waterEnvRatio);
+
+  fragColor = vec4(color.xyz, 0.9);
+}