Maritime tutorials 💧 - Part 2 of 4

tutorials.md.in

@@ -83,6 +83,10 @@ Gazebo @GZ_DESIGNATION_CAP@ library and how to use the library effectively.
 
 ## Maritime
 
+* \subpage theory_buoyancy "Buoyancy: " Describe the theory of operation of the
+buoyancy plugin.
+* \subpage theory_hydrodynamics "Hydrodynamics:" Describe the theory of
+operation of the hydrodynamics plugin.
 * \subpage create_vehicle "Create a maritime vehicle:" How to design a maritime
 model.
 * \subpage adding_visuals "Adding visuals:" How to import 3D meshes into Gazebo

tutorials/files/theory_hydrodynamics/buoyant_cylinder.sdf

@@ -0,0 +1,355 @@
+<?xml version="1.0" ?>
+<sdf version="1.7">
+  <world name="buoyant_cylinder">
+
+    <scene>
+      <ambient>0.0 1.0 1.0</ambient>
+      <background>0.0 0.7 0.8</background>
+
+      <grid>false</grid>
+    </scene>
+
+    <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>
+
+    <plugin
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
+    </plugin>
+
+    <plugin
+      filename="gz-sim-buoyancy-system"
+      name="gz::sim::systems::Buoyancy">
+      <graded_buoyancy>
+        <default_density>1025</default_density>
+        <density_change>
+          <above_depth>0</above_depth>
+          <density>1.125</density>
+        </density_change>
+      </graded_buoyancy>
+    </plugin>
+
+    <plugin
+      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">
+        <gz-gui>
+          <title>3D View</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+        </gz-gui>
+        <engine>ogre2</engine>
+        <scene>scene</scene>
+        <ambient_light>0.4 0.4 0.4</ambient_light>
+        <background_color>0.8 0.8 0.8</background_color>
+        <!-- looking at robot -->
+        <camera_pose>0 6 6 0 0.5 -1.57</camera_pose>
+        <!-- looking at all science data for 2003080103_mb_l3_las.csv -->
+        <!--camera_pose>-50000 -30000 250000 0 1.1 1.58</camera_pose-->
+        <camera_clip>
+          <!-- ortho view needs low near clip -->
+          <!-- but a very low near clip messes orbit's far clip ?! -->
+          <near>0.1</near>
+          <!-- See 3000 km away -->
+          <far>3000000</far>
+        </camera_clip>
+      </plugin>
+      <!-- Plugins that add functionality to the scene -->
+      <plugin filename="EntityContextMenuPlugin" name="Entity context menu">
+        <gz-gui>
+          <property key="state" type="string">floating</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </gz-gui>
+      </plugin>
+      <plugin filename="GzSceneManager" name="Scene Manager">
+        <gz-gui>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+          </anchors>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </gz-gui>
+      </plugin>
+      <plugin filename="InteractiveViewControl" name="Interactive view control">
+        <gz-gui>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+          </anchors>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </gz-gui>
+      </plugin>
+      <plugin filename="CameraTracking" name="Camera Tracking">
+        <gz-gui>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+          </anchors>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </gz-gui>
+      </plugin>
+      <plugin filename="MarkerManager" name="Marker manager">
+        <gz-gui>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+          </anchors>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </gz-gui>
+        <warn_on_action_failure>false</warn_on_action_failure>
+      </plugin>
+      <plugin filename="SelectEntities" name="Select Entities">
+        <gz-gui>
+          <anchors target="Select entities">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+          </anchors>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </gz-gui>
+      </plugin>
+      <plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
+        <gz-gui>
+          <anchors target="Select entities">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+          </anchors>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </gz-gui>
+      </plugin>
+      <plugin filename="Spawn" name="Spawn Entities">
+        <gz-gui>
+          <anchors target="Select entities">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+          </anchors>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </gz-gui>
+      </plugin>
+      <!-- World control -->
+      <plugin filename="WorldControl" name="World control">
+        <gz-gui>
+          <title>World control</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">72</property>
+          <property type="double" key="width">121</property>
+          <property type="double" key="z">1</property>
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="left" target="left"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </gz-gui>
+        <play_pause>true</play_pause>
+        <step>true</step>
+        <start_paused>true</start_paused>
+      </plugin>
+      <!-- World statistics -->
+      <plugin filename="WorldStats" name="World stats">
+        <gz-gui>
+          <title>World stats</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">110</property>
+          <property type="double" key="width">290</property>
+          <property type="double" key="z">1</property>
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </gz-gui>
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+      </plugin>
+      <plugin filename="ComponentInspector" name="Component Inspector">
+        <gz-gui>
+          <title>Inspector</title>
+          <property type="string" key="state">docked_collapsed</property>
+        </gz-gui>
+      </plugin>
+      <plugin filename="GridConfig" name="Grid config">
+        <gz-gui>
+          <property type="string" key="state">docked_collapsed</property>
+        </gz-gui>
+        <insert>
+          <!-- 300 km x 300 km -->
+          <cell_count>6</cell_count>
+          <vertical_cell_count>0</vertical_cell_count>
+          <!-- 50 km -->
+          <cell_length>50000</cell_length>
+          <pose>0 100000 0  0 0 0.32</pose>
+          <color>0 1 0 1</color>
+        </insert>
+        <insert>
+          <!-- 0.1 km x 0.1 km -->
+          <cell_count>100</cell_count>
+          <vertical_cell_count>0</vertical_cell_count>
+          <!-- 1 m -->
+          <cell_length>1</cell_length>
+          <pose>0 0 0  0 0 0</pose>
+          <color>0.5 0.5 0.5 1</color>
+        </insert>
+      </plugin>
+    </gui>
+
+    <!-- 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>
+
+
+    <!-- User options - Modify these parameters according to your needs -->
+
+    <!-- Physics parameters -->
+    <physics name="1ms" type="dart">
+      <max_step_size>0.02</max_step_size>
+      <real_time_factor>1</real_time_factor>
+    </physics>
+
+    <!-- Model to load -->
+    <model name="my_turtle">
+      <link name='base_link'>
+
+        <inertial>
+          <pose>0 0 0 0 0 0</pose>
+          <mass>10</mass>
+          <inertia>
+            <ixx>0.35032999999999995</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.35032999999999995</iyy>
+            <iyz>0</iyz>
+            <izz>0.61250000000000006</izz>
+          </inertia>
+        </inertial>
+
+        <collision name='collision'>
+          <geometry>
+            <box>
+              <size>1 1 0.009948450858321252</size>
+            </box>
+          </geometry>
+        </collision>
+
+        <visual name='visual'>
+          <pose>0.08 0 0.05 0 0 0</pose>
+          <geometry>
+            <cylinder>
+            <radius>0.35</radius>
+              <length>0.23</length>
+            </cylinder>
+          </geometry>
+        </visual>
+      </link>
+
+      <!-- Uncomment to generate a trajectory -->
+      <plugin filename="gz-sim-trajectory-follower-system"
+              name="gz::sim::systems::TrajectoryFollower">
+        <link_name>base_link</link_name>
+        <force>0.2</force>
+        <torque>0.01</torque>
+        <range_tolerance>0.1</range_tolerance>
+        <waypoints>
+          <waypoint>1 0</waypoint>
+        </waypoints>
+      </plugin>
+
+      <!-- Uncomment to add hydrodynamics -->
+      <plugin
+        filename="gz-sim-hydrodynamics-system"
+        name="gz::sim::systems::Hydrodynamics">
+        <link_name>base_link</link_name>
+        <xDotU>-0.04876161</xDotU>
+        <yDotV>-1.26324739</yDotV>
+        <zDotW>-1.26324739</zDotW>
+        <kDotP>0</kDotP>
+        <mDotQ>-0.3346</mDotQ>
+        <nDotR>-0.3346</nDotR>
+        <xUabsU>-0.62282</xUabsU>
+        <xU>-5</xU>
+        <yVabsV>-60.127</yVabsV>
+        <yV>-5</yV>
+        <zWabsW>-6.0127</zWabsW>
+        <zW>-100</zW>
+        <kPabsP>-0.001916</kPabsP>
+        <kP>-1</kP>
+        <mQabsQ>-6.32698957</mQabsQ>
+        <mQ>-1</mQ>
+        <nRabsR>-6.32698957</nRabsR>
+        <nR>-1</nR>
+      </plugin>
+
+    </model>
+
+  </world>
+</sdf>