From 08a93c34c76584575df2a0594d7d8eeae4370db7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Fri, 1 Dec 2023 19:08:09 +0100 Subject: [PATCH 01/55] Adding maritime tutorials. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- tutorials.md.in | 11 + tutorials/adding_system_plugins.md | 132 + tutorials/adding_visuals.md | 115 + tutorials/create_vehicle.md | 102 + .../adding_system_plugins/buoyant_turtle.sdf | 322 + .../files/adding_visuals/Turtle_BaseColor.png | Bin 0 -> 2356957 bytes .../adding_visuals/basic_visual_model.png | Bin 0 -> 133959 bytes tutorials/files/adding_visuals/turtle.dae | 5957 +++++++++++++++++ .../files/create_vehicle/basic_model.png | Bin 0 -> 130650 bytes .../files/frame_reference/turtle_frames.png | Bin 0 -> 150124 bytes tutorials/frame_reference.md | 77 + 11 files changed, 6716 insertions(+) create mode 100644 tutorials/adding_system_plugins.md create mode 100644 tutorials/adding_visuals.md create mode 100644 tutorials/create_vehicle.md create mode 100644 tutorials/files/adding_system_plugins/buoyant_turtle.sdf create mode 100644 tutorials/files/adding_visuals/Turtle_BaseColor.png create mode 100644 tutorials/files/adding_visuals/basic_visual_model.png create mode 100644 tutorials/files/adding_visuals/turtle.dae create mode 100644 tutorials/files/create_vehicle/basic_model.png create mode 100644 tutorials/files/frame_reference/turtle_frames.png create mode 100644 tutorials/frame_reference.md diff --git a/tutorials.md.in b/tutorials.md.in index 0c6f51aab3..34f61c9305 100644 --- a/tutorials.md.in +++ b/tutorials.md.in @@ -81,6 +81,17 @@ Gazebo @GZ_DESIGNATION_CAP@ library and how to use the library effectively. * \subpage blender_distort_meshes "Blender mesh distortion": Use a Blender Python script to programmatically deform and distort meshes to customized extents. * \subpage blender_procedural_datasets "Generation of Procedural Datasets with Blender": Use Blender with a Python script to generate procedural datasets of SDF models. +## Maritime + +* \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 +to increase the visual fidelity of your model. +* \subpage frame_reference "Frame of reference:" Decide the frame of reference +for your model. +* \subpage adding_system_plugins "Adding system plugins:" How to add plugins to +your model to provide extra capabilities to it. + ## License The code associated with this documentation is licensed under an [Apache 2.0 License](https://www.apache.org/licenses/LICENSE-2.0). diff --git a/tutorials/adding_system_plugins.md b/tutorials/adding_system_plugins.md new file mode 100644 index 0000000000..bd032ac46f --- /dev/null +++ b/tutorials/adding_system_plugins.md @@ -0,0 +1,132 @@ + +# Overview + +This tutorial explains how to add plugins to your model to provide extra +capabilities to it. + +## Related tutorials + +https://gazebosim.org/api/sim/8/createsystemplugins.html + + +# Adding a system plugin + +[This Gazebo tutorial](https://gazebosim.org/api/sim/8/createsystemplugins.html) +describes what is a system plugin in depth. Intuitively, you can envision a +system plugin as a piece of code that modifies the behavior of the simulation +when the general physics engine does not exactly capture your needs. +In our example, our turtle does not move because it's configured as a static +model. Let's see what happens if you remove that tag. + +Modify your `~/gazebo_maritime/models/my_turtle/model.sdf` and remove the line + `true`. Then launch the simulation: + +``` +gz sim ~/gazebo_maritime/models/my_turtle/model.sdf +``` + +Hit the play button and you'll see how your turtle falls into the void. Perhaps +not what you expected but this is completely normal. Gazebo thinks that your +turtle is in the air without any support underneath. Then, gravity makes your +turtle to free fall forever. + +If we want to simulate that our turtle floats like if it was in the water, +we'll need to attach a custom buoyancy plugin to our world. This buoyancy plugin +already exists in Gazebo, we only need to load it. + +Now, run Gazebo with the provided `buoyant_turtle.sdf` world and you'll see how +your turtle does not sink anymore. + +``` +mkdir -p ~/gazebo_maritime/worlds +wget https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/adding_system_plugins/buoyant_turtle.sdf -o ~/gazebo_maritime/worlds +export GZ_SIM_RESOURCE_PATH=:$HOME/gazebo_maritime/models +gz sim -r ~/gazebo_maritime/worlds/buoyant_turtle.sdf +``` + +The turtle now stays floating with an oscillating movement up and down. + +You just added buoyancy to your model! As a general rule, a maritime model will +need at least two system plugins: + +1. Buoyancy +2. Hydrodynamics + +As you have experienced, the buoyancy plugin generates an upthrust opposing some +weight of the model. Your model could have positive, neutral or negative +buoyancy. You'll be able to tune that aspect of your model later. + +The hydrodynamics plugin models the force and torque that the vehicle +experiences when moving within a fluid. Intuitively, the hydrodynamics plugin +generates drag opposing the movement of the vehicle. If your model does not have +hydrodynamics, it will behave as if there's no resistance. + +For the sake of illustrating the effect of hydrodynamics, let's attach a simple +controller to our turtle and move it without hydrodynamics. Keep in mind that +the goal is to move the model one meter and stop it. + +Uncomment the following block from `buoyant_turtle.sdf`: + +``` + + base_link + 0.2 + 0.01 + 0.1 + + 1 0 + + +``` + +And run Gazebo: + +``` +gz sim -r ~/gazebo_maritime/worlds/buoyant_turtle.sdf +``` + +As you just observed, we failed in our goal and the turtle behaved as if it was +moving on ice. Now, let's add hydrodynamics. + +Uncomment the following block from `buoyant_turtle.sdf`: + +``` + + base_link + -0.04876161 + -1.26324739 + -1.26324739 + 0 + -0.3346 + -0.3346 + -0.62282 + -5 + -60.127 + -5 + -6.0127 + -100 + -0.001916 + -1 + -6.32698957 + -1 + -6.32698957 + -1 + +``` + +And run Gazebo: + +``` +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. +Additionally you can notice how the up and down oscillations are also damped by +the effect of the hydrodynamics. + +The hydrodynamics are also configurable with its SDF parameters but we'll talk +about configuration in a separate tutorial. diff --git a/tutorials/adding_visuals.md b/tutorials/adding_visuals.md new file mode 100644 index 0000000000..02edb9d50b --- /dev/null +++ b/tutorials/adding_visuals.md @@ -0,0 +1,115 @@ +# Overview + +This tutorial describes how to import 3D meshes into Gazebo to increase the +visual fidelity of your model. Continuing with our example, we'll attach a 3D +mesh to our turtle, making it look much better. + +## Related tutorials + +https://gazebosim.org/api/sim/8/meshtofuel.html +https://classic.gazebosim.org/tutorials?tut=import_mesh&cat=build_robot +https://classic.gazebosim.org/tutorials?cat=guided_i&tut=guided_i2 + +## What is a visual? + +The visual element specifies the shape used by the rendering engine. For most +use cases the collision and visual elements are the same. The most common use +for different collision and visual elements is to have a simplified collision +element paired with a visual element that uses a complex mesh. This will help +improve performance. + +SDF supports the notion of visual as described +[here](http://sdformat.org/spec?ver=1.10&elem=visual). + +From our previous tutorial, the turtle visual is a cylinder. Let's use a COLLADA +mesh instead. + +## Model directory structure + +Gazebo has defined a model directory structure that supports stand-alone models, +and the ability to share models via an online model database. Review +[this tutorial](https://gazebosim.org/api/sim/8/meshtofuel.html) for more +information. + +Another benefit of Gazebo's model structure is that it conveniently organizes +resources, such as mesh files, required by the model. + +``` +my_turtle +├── materials Directory for textures + └── textures +├── meshes Directory for COLLADA, STL, and Wavefront OBJ files +├── thumbnails Directory for preview images on Fuel +├── model.config Meta data about the model +└── model.sdf SDF description of the model +``` + +Create the directories to add the mesh and its texture: + +``` +mkdir -p ~/gazebo_maritime/models/my_turtle/meshes +mkdir -p ~/gazebo_maritime/models/my_turtle/materials/textures +``` + +Next, download the COLADA mesh and its texture. + +``` +wget https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/adding_visuals/turtle.dae -o ~/gazebo_maritime/models/my_turtle/meshes +wget https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/adding_visuals/Turtle_BaseColor.png -o ~/gazebo_maritime/models/my_turtle/materials/textures +``` + +Now, let's edit our `model.sdf` to use the new mesh as our visual. + +``` + + + + true + + + + 0 0 0 0 0 0 + 10 + + 0.35032999999999995 + 0 + 0 + 0.35032999999999995 + 0 + 0.61250000000000006 + + + + + 0 0 0 0 0 0 + + + 1 1 0.009948450858321252 + + + + + + + + meshes/turtle.dae + + + + + + + +``` + +# Load your model in Gazebo + +Launch Gazebo and load our model: + +``` +gz sim ~/gazebo_maritime/models/my_turtle/model.sdf +``` + +You should visualize your model as a mesh now! + +@image html files/adding_visuals/basic_visual_model.png diff --git a/tutorials/create_vehicle.md b/tutorials/create_vehicle.md new file mode 100644 index 0000000000..fae183ba3b --- /dev/null +++ b/tutorials/create_vehicle.md @@ -0,0 +1,102 @@ +# Overview + +This tutorial goes through the process of designing a maritime model to be used +in Gazebo. Our basic model will be a turtle. First, we'll start simple and will +add more features as we progress in the tutorials. + +## Related tutorials + +https://gazebosim.org/docs/harmonic/building_robot + +# Design a basic SDF model + +Create a workspace to store your brand new model named `my_turtle`. + +``` +mkdir -p ~/gazebo_maritime/models/my_turtle && cd ~/gazebo_maritime/models/my_turtle +``` + +Each model must have a `model.config` file in the model's root directory that +contains meta information about the model. Create a `model.config` file: + +``` + + + my_turtle + 1.0 + model.sdf + + + Carlos Agüero + caguero@openrobotics.org + + + + My 3D turtle. + + +``` + +You can find a description of the allowed elements in `model.config` in +[this Gazebo Classic tutorial](https://classic.gazebosim.org/tutorials?tut=model_structure&cat=build_robot). + +Create a `model.sdf` file that contains the Simulator Description Format of the +model. You can find more information on the [SDF website](http://sdformat.org/). + +``` + + + + true + + + + 0 0 0 0 0 0 + 10 + + 0.35032999999999995 + 0 + 0 + 0.35032999999999995 + 0 + 0.61250000000000006 + + + + + + + 1 1 0.009948450858321252 + + + + + + 0.08 0 0.05 0 0 0 + + + 0.35 + 0.23 + + + + + + +``` + +The model.sdf file contains the necessary tags to instantiate a very minimum +model named `my_turtle` using SDF version 1.6. + +# Load your model in Gazebo + +Launch Gazebo and load our model: + +``` +gz sim ~/gazebo_maritime/models/my_turtle/model.sdf +``` + +You should visualize your model as a cylinder and the Gazebo `Entity Tree` +should capture its structure. + +@image html files/create_vehicle/basic_model.png diff --git a/tutorials/files/adding_system_plugins/buoyant_turtle.sdf b/tutorials/files/adding_system_plugins/buoyant_turtle.sdf new file mode 100644 index 0000000000..2591c085da --- /dev/null +++ b/tutorials/files/adding_system_plugins/buoyant_turtle.sdf @@ -0,0 +1,322 @@ + 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zaGFG2`ZSOLFf=q|e4QTAq#5mqb!)H{ZF<npOu{VyB>*$L1c;hoZ5IyGTS?-j|NP0y z+R{=WT^oe{nasB|#@(d#Fsl{+{<{!x1l0qp2|OMTvb%ubBJBm36sVOVuM=R2G86!p zlS#5<B!x8IAGY9!M&WCMMKejW{PXFjzTgVI3%rHVeArnspz;s<{M{RWW6k$1?B<KL z56=B}Y(_+?+;ePRjT~@XNJEmi9&85fQz$>_tToB>fBWB$aU;cqh5v^ze_#0Xiay+t z6=b5&mYZDsGdcK~PiH@YYZH0g@)fk<W72<zG1Mm!KLZaf`9lH{+x#V#KJM!Dx;7A4 zg1}8A{q^>(Sn)ipmG7AJ!@sL82Tm}U;@=UXUiv2hUG(qkSXj%quibH2>c3ys;x*QE kWtS%VOA(;YTn~Pez44)7*@S&P4FS*HJNoKXst!;8AB&yK0ssI2 literal 0 HcmV?d00001 diff --git a/tutorials/frame_reference.md b/tutorials/frame_reference.md new file mode 100644 index 0000000000..edd4581706 --- /dev/null +++ b/tutorials/frame_reference.md @@ -0,0 +1,77 @@ + +# Overview + +This tutorial explains how to decide the frame of reference for your model and +the conventions used in Gazebo. + +## Related tutorials + +https://gazebosim.org/api/sim/8/spherical_coordinates.html + + +# Gazebo world frame + +This page captures some of the reference frames and conventions that we use in +Gazebo. In general, Gazebo follows [REP 103: Standard Units of Measure and +Coordinate Conventions](https://www.ros.org/reps/rep-0103.html). + +Gazebo's simulation is always performed in Cartesian coordinates (good old XYZ). + +![world_frame](https://user-images.githubusercontent.com/1440739/156785118-225d5973-9837-49d1-8a5b-be402e3c074c.png) + +Additionally, Gazebo supports the use of real world latitude and longitude +coordinates in its simulations using the WGS84 geodetic system. The world's +Cartesian coordinates correspond to a local tangent plane at a given point on +the planetary surface. By default, this plane follows the ENU (East-North-Up) +convention, as shown on the image below: + +![spherical_coordinates](https://user-images.githubusercontent.com/1440739/156786820-f81d3871-2299-4c3d-a4c2-c1047a4e3b18.png) + +# Model frame + +Gazebo follows the right-hand rule. The robot front facing surface is in the +positive x direction, left facing being in the positive y direction, top facing +being in the positive z direction and so forth. + +![model_frame_sm](https://user-images.githubusercontent.com/1440739/156787618-3795012f-3a77-4048-8a16-94d6ba163f2b.jpg) + + +# Reference frame design considerations + +If you are creating a model, besides designing its kinematic structure (links +and joints) and physical properties, you need to decide where to place your +model's reference frame. Next are a few examples of our turtle model with three +differente choices for its reference frame. + +@image html files/frame_reference/turtle_frames.png + +Which one should I use then? There's no right answer here but here are a few +recommendations: + +1. If your simulation model is based on a real-world model, try to use the same +reference frame in simulation. This will simplify the process of creating and +maintaining your model in simulation, as most of the measurements that you might +find from your real-world robot will be transferable to your simulation model. + +2. Follow Gazebo's convention making `X` pointing forward, `Y` pointing +left, and `Z` pointing up. + +3. Try to match the `Z` value of your reference frame with the point of your +model that contacts the ground or the water. That way, when you spawn your model +at any point in the world, if you use `z` value of `0`, you know it will +smoothly sit on a stable place. + +# How to set your model reference frame + +There are a few ways to change the reference frame of your model: + +1. Adjust your mesh reference frame. When desigining your mesh you'll be able to +set its reference frame. It's recommended to match the mesh reference frame with +the one you will want in Gazebo for your model. + +2. Add extra transformations via SDF. Your model SDF supports the ability to add +transformations with the `<pose>` tag to add extra offset to the visuals or +collision elements of your model. + +As a rule of thumb, try to minimize the number of transformations in your model +to make it easier to reason about its reference frame. From 9f07e8ac4540847de16649e606a7fd9e4b507942 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org> Date: Fri, 1 Dec 2023 19:15:55 +0100 Subject: [PATCH 02/55] Adding \page --- tutorials/adding_system_plugins.md | 1 + tutorials/adding_visuals.md | 2 ++ tutorials/create_vehicle.md | 2 ++ tutorials/frame_reference.md | 1 + 4 files changed, 6 insertions(+) diff --git a/tutorials/adding_system_plugins.md b/tutorials/adding_system_plugins.md index bd032ac46f..2581e53cae 100644 --- a/tutorials/adding_system_plugins.md +++ b/tutorials/adding_system_plugins.md @@ -1,3 +1,4 @@ +\page adding_system_plugins # Overview diff --git a/tutorials/adding_visuals.md b/tutorials/adding_visuals.md index 02edb9d50b..3534937fd4 100644 --- a/tutorials/adding_visuals.md +++ b/tutorials/adding_visuals.md @@ -1,3 +1,5 @@ +\page adding_visuals + # Overview This tutorial describes how to import 3D meshes into Gazebo to increase the diff --git a/tutorials/create_vehicle.md b/tutorials/create_vehicle.md index fae183ba3b..3a88d69e61 100644 --- a/tutorials/create_vehicle.md +++ b/tutorials/create_vehicle.md @@ -1,3 +1,5 @@ +\page create_vehicle + # Overview This tutorial goes through the process of designing a maritime model to be used diff --git a/tutorials/frame_reference.md b/tutorials/frame_reference.md index edd4581706..b8d49bc2b9 100644 --- a/tutorials/frame_reference.md +++ b/tutorials/frame_reference.md @@ -1,3 +1,4 @@ +\page frame_reference # Overview From df4034f0e4f522948b5cf90411952ff36df56e41 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org> Date: Sat, 2 Dec 2023 17:19:48 +0100 Subject: [PATCH 03/55] Buoyancy and hydrodynamics tutorials. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero <caguero@openrobotics.org> --- tutorials.md.in | 4 + .../theory_hydrodynamics/buoyant_cylinder.sdf | 355 ++++++++++++++++++ tutorials/theory_buoyancy.md | 98 +++++ tutorials/theory_hydrodynamics.md | 162 ++++++++ 4 files changed, 619 insertions(+) create mode 100644 tutorials/files/theory_hydrodynamics/buoyant_cylinder.sdf create mode 100644 tutorials/theory_buoyancy.md create mode 100644 tutorials/theory_hydrodynamics.md diff --git a/tutorials.md.in b/tutorials.md.in index 34f61c9305..e36ec8e812 100644 --- a/tutorials.md.in +++ b/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 diff --git a/tutorials/files/theory_hydrodynamics/buoyant_cylinder.sdf b/tutorials/files/theory_hydrodynamics/buoyant_cylinder.sdf new file mode 100644 index 0000000000..60e84d11d8 --- /dev/null +++ b/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 + false + docked + + ogre2 + scene + 0.4 0.4 0.4 + 0.8 0.8 0.8 + + 0 6 6 0 0.5 -1.57 + + + + + + 0.1 + + 3000000 + + + + + + floating + 5 + 5 + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + false + + + + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + + World control + false + false + 72 + 121 + 1 + floating + + + + + + true + true + true + + + + + World stats + false + false + 110 + 290 + 1 + floating + + + + + + true + true + true + true + + + + Inspector + docked_collapsed + + + + + docked_collapsed + + + + 6 + 0 + + 50000 + 0 100000 0 0 0 0.32 + 0 1 0 1 + + + + 100 + 0 + + 1 + 0 0 0 0 0 0 + 0.5 0.5 0.5 1 + + + + + + + true + + + + + 0 0 1 + + 300000 300000 + + + 1.0 + + + + + + + + + + 0.02 + 1 + + + + + + + + 0 0 0 0 0 0 + 10 + + 0.35032999999999995 + 0 + 0 + 0.35032999999999995 + 0 + 0.61250000000000006 + + + + + + + 1 1 0.009948450858321252 + + + + + + 0.08 0 0.05 0 0 0 + + + 0.35 + 0.23 + + + + + + + + base_link + 0.2 + 0.01 + 0.1 + + 1 0 + + + + + + base_link + -0.04876161 + -1.26324739 + -1.26324739 + 0 + -0.3346 + -0.3346 + -0.62282 + -5 + -60.127 + -5 + -6.0127 + -100 + -0.001916 + -1 + -6.32698957 + -1 + -6.32698957 + -1 + + + + + + diff --git a/tutorials/theory_buoyancy.md b/tutorials/theory_buoyancy.md new file mode 100644 index 0000000000..26e5c40272 --- /dev/null +++ b/tutorials/theory_buoyancy.md @@ -0,0 +1,98 @@ +\page theory_buoyancy + +# Overview + +This tutorial describes the theory of operation of the buoyancy plugin, an +essential piece needed in most of the maritime simulations. + +# The buoyancy plugin + +This plugin is attached to the world to provide certain buoyancy to the +vehicles. The buoyancy force opposes gravity exerted on the robot. The +parameters of the plugin are configured via SDF in the world file. Check the +[Buoyancy.hh](https://github.com/gazebosim/gz-sim/blob/main/src/systems/buoyancy/Buoyancy.hh) +Gazebo header file for a complete description of all the accepted parameters. + +The buoyancy plugin uses the `` elements of each SDF model to compute +the volume of fluid displaced. + +A common pattern for the maritime domain is to create very thin collision +elements sorrounding the vehicle (with low volume) and a separate collision +element within the vehicle itself. The collection of low volume collision +elements work as a shell to generate contacts when necessary. The extra +collision element is only used to generate the agregated desired air volume. + +The outer set of collision elements in combination with the buoyancy collision +element induce forces at the center of each `` element. If you +followed the recommendation for creating low-volume outer collisions, the +predominant force will be applied at the center of the buoyancy collision +element. You can tune the location of that collision with the `` tag, +to match your expected center of buoyancy. + +The buoyancy force is proportional to the volume of air in the vehicle according +to this equation: + +$$volume\\_neutral = \frac{mass}{waterDensity}$$ + +Pure water's density is 1000 kgm^-3 and seawater's density is 1025 kgm^-3 +approximately. The mass of your vehicle is something that you'll decide or know +by adding the mass of all your links. With that in mind, you'll be able to +compute the volume of air that will make your vehicle neutrally buoyant. + +If your vehicle is neutrally buoyant, `volume_neutral` should be the total +amount of volume that you should have by adjusting the size of your +`` elements. If your vehicle is not neutrally buoyant, this value +will serve as a reference. If the total volume is smaller than `volume_neutral`, +the vehicle will sink. Otherwise, it will move up. + +The `/examples/worlds/buoyancy.sdf` SDF file (included with +Gazebo) contains an example with three submarines. The first submarine is +neutrally buoyant, the second sinks, and the third floats. Run the following +command to see an example of a buoyancy plugin configured with a uniform fluid +density: + +``` +gz sim buoyancy.sdf +``` + +# Graded buoyancy + +Often when simulating a maritime environment one may need to simulate both +surface and underwater vessels. This means the buoyancy plugin needs to +take into account two different fluids. One being water with a density of +~1000 kgm^-3 and another being air with a very light density of say 1 kgm^-3. +An example for such a configuration may be found in the +`/examples/worlds/graded_buoyancy.sdf` world (included +with Gazebo). + +``` +gz sim graded_buoyancy.sdf +``` + +You should be able to see a sphere bobbing up and down undergoing simple +harmonic motion on the surface of the fluid (this is expected behaviour +as the harmonic motiorn is usually damped by the hydrodynamic forces. See the +hydrodynamics tutorial for an example of how to use it). The key part of this is + +``` + + 1000 + + 0 + 1 + + +``` + +The default density tag says that by default the world has a fluid density +of 1000 kgm^-3. This essentially states that by default the world is filled +with dihydrogen monoxide (aka water). The `` tag essentially +establishes the fact that there is a another fluid. The `` tag says +that above z=0 there is another fluid with a different density. The density of +that fluid is defined by the `` tag. We will be simulating air with a +fluid density of 1 kgm^-3. + +# Known limitations + +When the buoyancy plugin is configured in `graded buoyancy mode`, only `` +and `` collision geometries are supported. diff --git a/tutorials/theory_hydrodynamics.md b/tutorials/theory_hydrodynamics.md new file mode 100644 index 0000000000..c0c7a59c33 --- /dev/null +++ b/tutorials/theory_hydrodynamics.md @@ -0,0 +1,162 @@ +\page theory_hydrodynamics + +# Overview + +This tutorial describes the theory of operation of the hydrodynamics plugin. +It's heavily based on [3], and we recommend to read the full paper for a deeper +understanding of its theory. + +# The hydrodynamics plugin + +To approximate the motion of the vehicle in the ocean environment, we adapt +Fossen’s six degree-of-freedom robot-like vectorial model for marine craft [2] +expressed as + +$$M ẍ + D(ẋ)ẋ + C(ẋ)ẋ = F$$ + +where `M` is the added mass matrix, `D(ẋ)` is the damping matrix, `C(ẋ)` is the +Coriolis matrix, and `ẋ` is the velocity six-vector. + +If present, ocean current is approximated by adding a term `vc` to the velocity: + +$$M ẍ + D(ẋ − vc )(ẋ − vc ) + C(ẋ − vc )(ẋ − vc ) = F$$ + +The hydrodynamic forces include the added mass terms due to inertia of the +surrounding fluid, the Coriolis-centripetal matrix for the added mass, and +hydrodynamic damping. The hydrodynamic damping includes forces due to +radiation-induced potential damping, skin friction, wave drift damping, vortex +shedding and lifting forces. These effects are aggregated in the hydrodynamic +damping matrix. This approximation of the hydrodynamic effects is implemented in +this Gazebo plugin. The user defines the characteristics of the vessel under +test through a vessel-specific configuration that includes the hydrodynamic +derivatives. During each time step of the simulation, the plugin is executed +with access to the state of the vessel and environment. The hydrodynamic force +terms are calculated based on this state information and the user-defined vessel +characteristics. The resulting force and moment values are then applied to the +vessel through the Gazebo API for inclusion in the next iteration of the physics +engine. + +The parameters of the plugin are configured via SDF in the model file. +The next table summarizes all the available SDF parameters. + +Parameter | Description +------------------| ------------- + | Added mass in surge + | Added mass in sway + | Added mass in heave + | Added mass in roll + | Added mass in pitch + | Added mass in yaw + | Quadratic drag in surge + | Linear drag in surge + | Quadratic drag in sway + | Linear drag in sway + | Quadratic drag in heave + | Linear drag in heave + | Quadratic drag in roll + | Linear drag in roll + | Quadratic drag in pitch + | Linear drag in pitch + | Quadratic drag in yaw + | Linear drag in yaw + | Default ocean current vector + +# A simple example + +Let's download the provided `buoyant_cylinder.sdf` world and run to see an +example of a cylinder with three plugins attached: + +* Buoyancy: It will make the cylinder float on the surface of the water. +* Hydrodynamics: It will simulate the damping generated by the fluid +surrounding the cylinder. +* Trajectory follower: It will apply some force to move the cylinder one meter +in the positive `X` direction. + +``` +mkdir -p ~/gazebo_maritime/worlds +wget https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/theory_hydrodynamics/buoyant_cylinder.sdf -o ~/gazebo_maritime/worlds +gz sim -r ~/gazebo_maritime/worlds/buoyant_cylinder.sdf +``` + +Observe how the cylinder does not sink, and slowly makes its way until it +reaches (1, 0, 0) in world coordinates. + +Now let's make a change in the hydrodynamics parameters. Considering that the +model only moves in `X` direction (or surge in the maritime terminology), we're +going to reduce the value of `` and `` parameters. Update these +parameters to: + +``` +-0.32282 +-2.5 +``` + +And run Gazebo again: + +``` +gz sim -r ~/gazebo_maritime/worlds/buoyant_cylinder.sdf +``` + +Notice how the vehicle does not stop at the 1 meter mark. Instead, the cylinder +stops further. This is because we lowered the linear and quadratic drag in the +direction that the model is moving. + +Let's now try the opposite. Go ahead and update the same parameters to the +following values: + +``` +-3.5 +-20 +``` + +And run Gazebo: + +``` +gz sim -r ~/gazebo_maritime/worlds/buoyant_cylinder.sdf +``` + +See how slow the cylinder moves. With these set of parameters we increased the +damping in the surge axis, causing the vehicle to slowly move towards its goal. + +# Experimental - How to tune the parameters + +The hydrodynamics plugin requires a large number of parameters to model the +added mass and drag behaviors of underwater vehicles. This section describes a +method to generate an initial set of parameters for the hydrodynamics plugin. +Note these parameters need to be tested and possibly tweaked to guarantee model +stability. + +## Added mass + +A python library called [Capytaine](https://github.com/capytaine/capytaine) can +be used to determine the added mass matrix of your vehicle. Capytaine enables +the user to import a mesh (.stl), define a set of linear potential flow problems +and solve these using the included Boundary Element Method (BEM) solver. + +Capytaine is typically used to model the interaction between floating bodies and +waves, however in can be applied to ROVs by setting the wave frequency and free +surface both to infinity (this assumes that the added mass is approximately +constant since the ROV does not operate near the wave zone and that it operates +in infinitely deep water respectively) [1](p.14), [2](p.18). + +Furthermore, it is recommended to use a simplified mesh when computing the added +mass with Capytaine, since a complex mesh is computationally prohibitive. + +## Linear and quadratic damping + +Computing the linear and quadratic damping coefficients is generally not +possible using computational analysis and is usually done experimentally +[1](p.28). If determining the damping coefficients experimentally is not +feasible, the same method described by Berg2012 can be used to estimate these +values from a similar ROV [1](p.28-31). + +# References + +[1] BERG, V. Development and Commissioning of a DP system for ROV SF 30k, +2012. + +[2] FOSSEN , T. I. Lecture notes: Ttk 4190 guidance, navigation and control of +vehicles, February 2021. + +[3] BINGHAM, B. et al., Toward Maritime Robotic Simulation in Gazebo, Oceans +Conference, 2019. From 7aac66f6ecc7a7e7126b8e6f33a9f65240430ee9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Tue, 5 Dec 2023 10:26:32 +0100 Subject: [PATCH 04/55] Update tutorials/adding_system_plugins.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Alejandro Hernández Cordero Signed-off-by: Carlos Agüero --- tutorials/adding_system_plugins.md | 1 - 1 file changed, 1 deletion(-) diff --git a/tutorials/adding_system_plugins.md b/tutorials/adding_system_plugins.md index 2581e53cae..cd613f1dfe 100644 --- a/tutorials/adding_system_plugins.md +++ b/tutorials/adding_system_plugins.md @@ -9,7 +9,6 @@ capabilities to it. https://gazebosim.org/api/sim/8/createsystemplugins.html - # Adding a system plugin [This Gazebo tutorial](https://gazebosim.org/api/sim/8/createsystemplugins.html) From 85ef1d19c5d37b196ac758bc69d492e804f0c5d8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Tue, 5 Dec 2023 10:26:44 +0100 Subject: [PATCH 05/55] Update tutorials/adding_system_plugins.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Alejandro Hernández Cordero Signed-off-by: Carlos Agüero --- tutorials/adding_system_plugins.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/adding_system_plugins.md b/tutorials/adding_system_plugins.md index cd613f1dfe..f847ee6e27 100644 --- a/tutorials/adding_system_plugins.md +++ b/tutorials/adding_system_plugins.md @@ -21,7 +21,7 @@ model. Let's see what happens if you remove that tag. Modify your `~/gazebo_maritime/models/my_turtle/model.sdf` and remove the line `true`. Then launch the simulation: -``` +```bash gz sim ~/gazebo_maritime/models/my_turtle/model.sdf ``` From edfc7b541aed8f84c5490da3014188c5e7bd4dd8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Tue, 5 Dec 2023 10:26:53 +0100 Subject: [PATCH 06/55] Update tutorials/adding_system_plugins.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Alejandro Hernández Cordero Signed-off-by: Carlos Agüero --- tutorials/adding_system_plugins.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/adding_system_plugins.md b/tutorials/adding_system_plugins.md index f847ee6e27..b18c640ba8 100644 --- a/tutorials/adding_system_plugins.md +++ b/tutorials/adding_system_plugins.md @@ -37,7 +37,7 @@ already exists in Gazebo, we only need to load it. Now, run Gazebo with the provided `buoyant_turtle.sdf` world and you'll see how your turtle does not sink anymore. -``` +```bash mkdir -p ~/gazebo_maritime/worlds wget https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/adding_system_plugins/buoyant_turtle.sdf -o ~/gazebo_maritime/worlds export GZ_SIM_RESOURCE_PATH=:$HOME/gazebo_maritime/models From 5720567534c1cd125b2a70b4267ed2f78b84042a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Tue, 5 Dec 2023 10:27:01 +0100 Subject: [PATCH 07/55] Update tutorials/adding_system_plugins.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Alejandro Hernández Cordero Signed-off-by: Carlos Agüero --- tutorials/adding_system_plugins.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/adding_system_plugins.md b/tutorials/adding_system_plugins.md index b18c640ba8..b8204a4b8f 100644 --- a/tutorials/adding_system_plugins.md +++ b/tutorials/adding_system_plugins.md @@ -67,7 +67,7 @@ the goal is to move the model one meter and stop it. Uncomment the following block from `buoyant_turtle.sdf`: -``` +```bash base_link From 299c181d4743f6f29f22a9a3f55b30194635b34e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Tue, 5 Dec 2023 10:27:08 +0100 Subject: [PATCH 08/55] Update tutorials/adding_system_plugins.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Alejandro Hernández Cordero Signed-off-by: Carlos Agüero --- tutorials/adding_system_plugins.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/adding_system_plugins.md b/tutorials/adding_system_plugins.md index b8204a4b8f..87b7852e3b 100644 --- a/tutorials/adding_system_plugins.md +++ b/tutorials/adding_system_plugins.md @@ -82,7 +82,7 @@ Uncomment the following block from `buoyant_turtle.sdf`: And run Gazebo: -``` +```bash gz sim -r ~/gazebo_maritime/worlds/buoyant_turtle.sdf ``` From a0d3d6adaad088ba0438b18430793b094a21e669 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Tue, 5 Dec 2023 10:27:17 +0100 Subject: [PATCH 09/55] Update tutorials/create_vehicle.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Alejandro Hernández Cordero Signed-off-by: Carlos Agüero --- tutorials/create_vehicle.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/create_vehicle.md b/tutorials/create_vehicle.md index 3a88d69e61..d4a28343fd 100644 --- a/tutorials/create_vehicle.md +++ b/tutorials/create_vehicle.md @@ -21,7 +21,7 @@ mkdir -p ~/gazebo_maritime/models/my_turtle && cd ~/gazebo_maritime/models/my_tu Each model must have a `model.config` file in the model's root directory that contains meta information about the model. Create a `model.config` file: -``` +```xml my_turtle From 20da621e1e081a8178412bc261a4ff4d189f7b42 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Tue, 5 Dec 2023 10:27:25 +0100 Subject: [PATCH 10/55] Update tutorials/create_vehicle.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Alejandro Hernández Cordero Signed-off-by: Carlos Agüero --- tutorials/create_vehicle.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/create_vehicle.md b/tutorials/create_vehicle.md index d4a28343fd..7276f5be83 100644 --- a/tutorials/create_vehicle.md +++ b/tutorials/create_vehicle.md @@ -45,7 +45,7 @@ You can find a description of the allowed elements in `model.config` in Create a `model.sdf` file that contains the Simulator Description Format of the model. You can find more information on the [SDF website](http://sdformat.org/). -``` +```xml From 4c3d0cd015473a85f578586d9afbfad79f39fb3e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Tue, 5 Dec 2023 10:30:04 +0100 Subject: [PATCH 11/55] Update tutorials/create_vehicle.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Alejandro Hernández Cordero Signed-off-by: Carlos Agüero --- tutorials/create_vehicle.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/create_vehicle.md b/tutorials/create_vehicle.md index 7276f5be83..895f4e3499 100644 --- a/tutorials/create_vehicle.md +++ b/tutorials/create_vehicle.md @@ -94,7 +94,7 @@ model named `my_turtle` using SDF version 1.6. Launch Gazebo and load our model: -``` +```bash gz sim ~/gazebo_maritime/models/my_turtle/model.sdf ``` From fe3bcd4c7aa8f3b850133b607cc39f41fe95ffd9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Tue, 5 Dec 2023 10:30:10 +0100 Subject: [PATCH 12/55] Update tutorials/frame_reference.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Alejandro Hernández Cordero Signed-off-by: Carlos Agüero --- tutorials/frame_reference.md | 1 - 1 file changed, 1 deletion(-) diff --git a/tutorials/frame_reference.md b/tutorials/frame_reference.md index b8d49bc2b9..8904c04d3c 100644 --- a/tutorials/frame_reference.md +++ b/tutorials/frame_reference.md @@ -9,7 +9,6 @@ the conventions used in Gazebo. https://gazebosim.org/api/sim/8/spherical_coordinates.html - # Gazebo world frame This page captures some of the reference frames and conventions that we use in From ce7df55e1806cbe5d0898be75cb5bb4a71c7c36d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Tue, 5 Dec 2023 10:30:18 +0100 Subject: [PATCH 13/55] Update tutorials/frame_reference.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Alejandro Hernández Cordero Signed-off-by: Carlos Agüero --- tutorials/frame_reference.md | 1 - 1 file changed, 1 deletion(-) diff --git a/tutorials/frame_reference.md b/tutorials/frame_reference.md index 8904c04d3c..281a724f09 100644 --- a/tutorials/frame_reference.md +++ b/tutorials/frame_reference.md @@ -35,7 +35,6 @@ being in the positive z direction and so forth. ![model_frame_sm](https://user-images.githubusercontent.com/1440739/156787618-3795012f-3a77-4048-8a16-94d6ba163f2b.jpg) - # Reference frame design considerations If you are creating a model, besides designing its kinematic structure (links From a00ea7dd4ecc07ae94a9f8e1d8d3f12eecb4953c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Tue, 5 Dec 2023 10:31:37 +0100 Subject: [PATCH 14/55] Apply suggestions from code review MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: crvogt Signed-off-by: Carlos Agüero --- tutorials/create_vehicle.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tutorials/create_vehicle.md b/tutorials/create_vehicle.md index 895f4e3499..97dc9b7bfd 100644 --- a/tutorials/create_vehicle.md +++ b/tutorials/create_vehicle.md @@ -77,7 +77,7 @@ model. You can find more information on the [SDF website](http://sdformat.org/). 0.08 0 0.05 0 0 0 - 0.35 + 0.35 0.23 @@ -87,7 +87,7 @@ model. You can find more information on the [SDF website](http://sdformat.org/). ``` -The model.sdf file contains the necessary tags to instantiate a very minimum +The `model.sdf` file contains the necessary tags to instantiate a very minimum model named `my_turtle` using SDF version 1.6. # Load your model in Gazebo From f0da870ab1f428e1df2fbc02ef5d2d1cf599e461 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Tue, 5 Dec 2023 10:32:06 +0100 Subject: [PATCH 15/55] Update tutorials/adding_visuals.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: crvogt Signed-off-by: Carlos Agüero --- tutorials/adding_visuals.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/adding_visuals.md b/tutorials/adding_visuals.md index 3534937fd4..f51fce9ae0 100644 --- a/tutorials/adding_visuals.md +++ b/tutorials/adding_visuals.md @@ -53,7 +53,7 @@ mkdir -p ~/gazebo_maritime/models/my_turtle/meshes mkdir -p ~/gazebo_maritime/models/my_turtle/materials/textures ``` -Next, download the COLADA mesh and its texture. +Next, download the COLLADA mesh and its texture. ``` wget https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/adding_visuals/turtle.dae -o ~/gazebo_maritime/models/my_turtle/meshes From 52138007047ec8b0823014116b311b56dfe8d724 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Tue, 5 Dec 2023 21:56:57 +0100 Subject: [PATCH 16/55] Lander and lrauv tutorials. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- src/systems/lift_drag/LiftDrag.cc | 4 + tutorials.md.in | 3 +- tutorials/files/lander/buoyant_lander.sdf | 297 + .../files/lander/gui_transform_control.png | Bin 0 -> 49226 bytes tutorials/files/lander/inkfish-lander.dae | 339 + tutorials/files/lander/lander_collisions.png | Bin 0 -> 28081 bytes tutorials/files/lander/lander_visuals.png | Bin 0 -> 117647 bytes tutorials/files/lander/model.config | 15 + tutorials/files/lander/simple_lander.png | Bin 0 -> 96199 bytes .../MBARI forces.png | Bin .../underwater_vehicles/buoyant_lrauv.sdf | 302 + .../underwater_vehicles/lrauv_turn_left.png | Bin 0 -> 50738 bytes .../my_lrauv/materials/scripts/model.material | 53 + .../materials/textures/Tethys_Albedo.png | Bin 0 -> 850994 bytes .../materials/textures/Tethys_Metalness.png | Bin 0 -> 27685 bytes .../materials/textures/Tethys_Normal.png | Bin 0 -> 147397 bytes .../materials/textures/Tethys_Roughness.png | Bin 0 -> 53591 bytes .../my_lrauv/meshes/base.dae | 3896 + .../my_lrauv/meshes/propeller.dae | 99 + .../my_lrauv/meshes/tethys.dae | 84938 ++++++++++++++++ .../underwater_vehicles/my_lrauv/model.config | 15 + .../underwater_vehicles/my_lrauv/model.sdf | 254 + tutorials/lander.md | 422 + tutorials/theory_hydrodynamics.md | 9 + tutorials/underwater_vehicles.md | 360 +- 25 files changed, 90885 insertions(+), 121 deletions(-) create mode 100644 tutorials/files/lander/buoyant_lander.sdf create mode 100644 tutorials/files/lander/gui_transform_control.png create mode 100644 tutorials/files/lander/inkfish-lander.dae create mode 100644 tutorials/files/lander/lander_collisions.png create mode 100644 tutorials/files/lander/lander_visuals.png create mode 100644 tutorials/files/lander/model.config create mode 100644 tutorials/files/lander/simple_lander.png rename tutorials/files/{underwater => underwater_vehicles}/MBARI forces.png (100%) create mode 100644 tutorials/files/underwater_vehicles/buoyant_lrauv.sdf create mode 100644 tutorials/files/underwater_vehicles/lrauv_turn_left.png create mode 100644 tutorials/files/underwater_vehicles/my_lrauv/materials/scripts/model.material create mode 100644 tutorials/files/underwater_vehicles/my_lrauv/materials/textures/Tethys_Albedo.png create mode 100644 tutorials/files/underwater_vehicles/my_lrauv/materials/textures/Tethys_Metalness.png create mode 100644 tutorials/files/underwater_vehicles/my_lrauv/materials/textures/Tethys_Normal.png create mode 100644 tutorials/files/underwater_vehicles/my_lrauv/materials/textures/Tethys_Roughness.png create mode 100644 tutorials/files/underwater_vehicles/my_lrauv/meshes/base.dae create mode 100644 tutorials/files/underwater_vehicles/my_lrauv/meshes/propeller.dae create mode 100644 tutorials/files/underwater_vehicles/my_lrauv/meshes/tethys.dae create mode 100644 tutorials/files/underwater_vehicles/my_lrauv/model.config create mode 100644 tutorials/files/underwater_vehicles/my_lrauv/model.sdf create mode 100644 tutorials/lander.md diff --git a/src/systems/lift_drag/LiftDrag.cc b/src/systems/lift_drag/LiftDrag.cc index 483c1fadd0..504e7c6334 100644 --- a/src/systems/lift_drag/LiftDrag.cc +++ b/src/systems/lift_drag/LiftDrag.cc @@ -280,7 +280,9 @@ void LiftDragPrivate::Update(EntityComponentManager &_ecm) } if (!worldLinVel || !worldAngVel || !worldPose) + { return; + } const auto &pose = worldPose->Data(); const auto cpWorld = pose.Rot().RotateVector(this->cp); @@ -292,7 +294,9 @@ void LiftDragPrivate::Update(EntityComponentManager &_ecm) } if (vel.Length() <= 0.01) + { return; + } const auto velI = vel.Normalized(); diff --git a/tutorials.md.in b/tutorials.md.in index e36ec8e812..632c046373 100644 --- a/tutorials.md.in +++ b/tutorials.md.in @@ -51,7 +51,6 @@ Gazebo @GZ_DESIGNATION_CAP@ library and how to use the library effectively. * \subpage battery "Battery": Keep track of battery charge on robot models. * \subpage particle_emitter "Particle emitter": Using particle emitters in simulation * \subpage spherical_coordinates "Spherical coordinates": Working with latitude and longitude -* \subpage underwater_vehicles "Underwater Vehicles": Understand how to simulate underwater vehicles. * \subpage logicalaudiosensor "Logical Audio Sensor": Using the LogicalAudioSensor system to mimic logical audio emission and detection in simulation. * \subpage auto_inertia_calculation "Automatic Inertia Calculation": Automatically compute inertia values(mass, mass matrix, center of mass) for SDFormat links. @@ -95,6 +94,8 @@ to increase the visual fidelity of your model. 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. ## License diff --git 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48.88412 50 86.61788 49.00823 50 86.43527 49.09947 50 86.24659 49.1565 50 86 49.1825 50 85.75341 49.1565 50 85.50273 49.07286 50 85.2683 48.92893 50 85.07107 48.73171 50 84.92714 48.49726 50 84.8435 48.24659 50 86.99581 48 82.03481 86.39736 48 84.11622 85.35971 48 86.11917 83.90722 48 87.90722 82.11917 48 89.35971 80.11622 48 90.39736 78.03481 48 90.99581 76 48 91.18251 76 48.21517 91.16276 76 48.43527 91.09947 76 48.64707 90.98975 76 48.83615 90.83615 76 48.98974 90.64707 76 49.09947 90.43527 76 49.16276 90.21517 76 49.1825 90 76 49.16276 89.78483 76 49.09947 89.56473 76 48.98974 89.35293 76 48.83615 89.16385 76 48.64707 89.01026 76 48.43527 88.90053 76 48.21517 88.83724 76 48 88.8175 77.60446 48 88.6703 79.24568 48 88.19841 80.82502 48 87.38021 82.23492 48 86.23492 83.38021 48 84.82502 84.19841 48 83.24568 84.6703 48 81.60446 86.96569 48.26746 82.02923 86.86859 48.53781 82.01126 86.70269 48.78495 81.98056 86.47924 48.98308 81.93921 86.22064 49.11487 81.89136 85.95342 49.17615 81.84191 85.69394 49.17401 81.79389 85.4265 49.10786 81.7444 85.26523 49.03191 81.71456 85.1142 48.92943 81.68661 84.97954 48.80303 81.66168 84.86639 48.65716 81.64075 84.77827 48.49763 81.62445 84.71675 48.33087 81.61305 84.68142 48.16318 81.60652 86.72138 48.26746 83.06853 86.62646 48.53781 83.04136 86.46425 48.78495 82.99494 86.24578 48.98308 82.93241 85.99295 49.11487 82.86004 85.73168 49.17615 82.78527 85.47798 49.17401 82.71266 85.21649 49.10786 82.63782 85.05882 49.03191 82.59269 84.91115 48.92943 82.55043 84.77949 48.80303 82.51274 84.66886 48.65716 82.48108 84.58271 48.49763 82.45642 84.52255 48.33087 82.4392 84.48802 48.16318 82.42932 85.33406 48.26746 86.1024 85.25141 48.53781 86.04838 85.11019 48.78495 85.95605 84.92 48.98308 85.83171 84.69987 49.11487 85.68779 84.47241 49.17615 85.53908 84.25154 49.17401 85.39469 84.02389 49.10786 85.24585 83.88662 49.03191 85.1561 83.75806 48.92943 85.07205 83.64344 48.80303 84.99712 83.54712 48.65716 84.93415 83.47212 48.49763 84.88511 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88.77827 77.61305 48.33087 88.71675 77.60652 48.16318 88.68142 87.16276 47.78483 80 87.09947 47.56473 80 86.98975 47.35292 80 86.83615 47.16384 80 86.64707 47.01025 80 86.43527 46.90052 80 86.21517 46.83724 80 86 46.8175 80 85.78483 46.83724 80 85.56473 46.90052 80 85.35293 47.01025 80 85.16385 47.16384 80 85.01026 47.35292 80 84.90053 47.56473 80 84.83724 47.78483 80 76 47.78483 88.83724 76 47.56473 88.90053 76 47.35292 89.01026 76 47.16384 89.16385 76 47.01025 89.35293 76 46.90052 89.56473 76 46.83724 89.78483 76 46.8175 90 76 46.83724 90.21517 76 46.90052 90.43527 76 47.01025 90.64707 76 47.16384 90.83615 76 47.35292 90.98975 76 47.56473 91.09947 76 47.78483 91.16276 87.126 47.83682 81.00379 84.81236 47.73254 80.79505 78.03275 47.83682 90.98469 78.02621 47.66912 90.94937 78.01483 47.50237 90.88784 77.99851 47.34284 90.79972 77.97758 47.19696 90.68657 77.95266 47.07056 90.55191 77.92471 46.96809 90.40088 77.89487 46.89214 90.23961 77.84538 46.82599 89.97217 77.79736 46.82385 89.71269 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47.50237 87.82958 83.76622 47.34284 87.76622 83.68485 47.19696 87.68485 83.58801 47.07056 87.58801 83.4794 46.96809 87.4794 83.36343 46.89214 87.36343 83.17111 46.82599 87.17111 82.98451 46.82385 86.98451 82.79235 46.88513 86.79235 82.60639 47.01692 86.60639 82.4457 47.21505 86.4457 82.3264 47.46218 86.3264 82.25659 47.73254 86.25659 85.35024 47.83682 86.11299 85.32017 47.66912 86.09333 85.26779 47.50237 86.05909 85.19279 47.34284 86.01005 85.09648 47.19696 85.94709 84.98185 47.07056 85.87214 84.8533 46.96809 85.7881 84.71602 46.89214 85.69835 84.48837 46.82599 85.54952 84.2675 46.82385 85.40512 84.04004 46.88513 85.25641 83.81992 47.01692 85.1125 83.62972 47.21505 84.98815 83.48851 47.46218 84.89582 83.40586 47.73254 84.84179 86.38684 47.83682 84.11206 86.35344 47.66912 84.09883 86.29527 47.50237 84.0758 86.21194 47.34284 84.04282 86.10495 47.19696 84.00046 85.97762 47.07056 83.95005 85.83481 46.96809 83.89351 85.68231 46.89214 83.83314 85.42942 46.82599 83.73303 85.18407 46.82385 83.63589 84.93139 46.88513 83.53586 84.68687 47.01692 83.43905 84.47558 47.21505 83.35541 84.31871 47.46218 83.2933 84.2269 47.73254 83.25696 86.73997 47.83682 83.07385 86.70543 47.66912 83.06396 86.64528 47.50237 83.04675 86.55912 47.34284 83.02209 86.4485 47.19696 82.99043 86.31684 47.07056 82.95275 86.16917 46.96809 82.91048 86.01149 46.89214 82.86535 85.75 46.82599 82.79051 85.49631 46.82385 82.71791 85.23504 46.88513 82.64313 84.9822 47.01692 82.57077 84.76374 47.21505 82.50823 84.60153 47.46218 82.46181 84.5066 47.73254 82.43464 87.06787 47.83682 81.51588 87.03227 47.66912 81.511 86.97028 47.50237 81.50251 86.8815 47.34284 81.49036 86.76749 47.19696 81.47474 86.63181 47.07056 81.45616 86.47964 46.96809 81.43531 86.31714 46.89214 81.41306 86.04767 46.82599 81.37615 85.78623 46.82385 81.34035 85.51699 46.88513 81.30347 85.25643 47.01692 81.26779 85.03129 47.21505 81.23695 84.86413 47.46218 81.21405 84.76631 47.73254 81.20066 84.70043 47.73254 81.61004 84.79752 47.46218 81.628 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47.01692 11.31314 79.35541 47.21505 11.52442 79.2933 47.46218 11.6813 79.25696 47.73254 11.7731 79.07385 47.83682 9.260033 79.06396 47.66912 9.294568 79.04675 47.50237 9.354723 79.02209 47.34284 9.440878 78.99043 47.19696 9.551507 78.95275 47.07056 9.683168 78.91048 46.96809 9.830833 78.86535 46.89214 9.988512 78.79051 46.82599 10.25 78.71791 46.82385 10.50369 78.64313 46.88513 10.76496 78.57077 47.01692 11.0178 78.50823 47.21505 11.23627 78.46181 47.46218 11.39848 78.43464 47.73254 11.4934 77.51588 47.83682 8.93214 77.511 47.66912 8.967729 77.50251 47.50237 9.029722 77.49036 47.34284 9.118507 77.47474 47.19696 9.232513 77.45616 47.07056 9.368193 77.43531 46.96809 9.520367 77.41306 46.89214 9.682859 77.37615 46.82599 9.952329 77.34035 46.82385 10.21377 77.30347 46.88513 10.48301 77.26779 47.01692 10.74357 77.23695 47.21505 10.96871 77.21405 47.46218 11.13587 77.20066 47.73254 11.2337 77.61004 47.73254 11.29957 77.628 47.46218 11.20248 77.6587 47.21505 11.03658 77.70005 47.01692 10.81313 77.74791 46.88513 10.55453 77.79736 46.82385 10.28731 77.84538 46.82599 10.02783 77.89487 46.89214 9.76039 77.92471 46.96809 9.599119 77.95266 47.07056 9.448089 77.97758 47.19696 9.313427 77.99851 47.34284 9.200278 78.01483 47.50237 9.11216 78.02621 47.66912 9.050634 78.03275 47.83682 9.015312 76.80392 47.46218 11.08931 76.81908 47.21505 10.92127 76.8395 47.01692 10.69495 76.86313 46.88513 10.43302 76.88755 46.82385 10.16236 76.91126 46.82599 9.89955 76.93569 46.89214 9.628664 76.95043 46.96809 9.465318 76.96424 47.07056 9.312346 76.97654 47.19696 9.175952 76.98688 47.34284 9.061347 76.99494 47.50237 8.972096 77.00055 47.66912 8.909778 76 48 10 76 48 90 71.6 46.1 62.6 71.6 49.9 62.6 71.6 49.9 149.4 71.6 46.1 149.4 71.6 48 106 75.4 46.1 62.6 75.4 46.1 149.4 73.5 46.1 106 75.4 49.9 62.6 75.4 49.9 149.4 73.5 49.9 106 75.4 48 106 73.5 48 149.4 73.5 48 62.6 87.5 48 80 87.30802 48 82.09258 86.69257 48 84.23309 85.62545 48 86.29292 84.13173 48 88.13173 82.29292 48 89.62545 80.23309 48 90.69257 78.09258 48 91.30802 76 48 91.5 76 47.72705 91.47496 76 47.44786 91.39469 76 47.17918 91.2555 76 46.93934 91.06066 76 46.74451 90.82082 76 46.60531 90.55214 76 46.52504 90.27294 76 46.5 90 76 46.52504 89.72706 76 46.60531 89.44786 76 46.74451 89.17919 76 46.93934 88.93934 76 47.17918 88.74451 76 47.44786 88.60532 76 47.72705 88.52504 76 48 88.5 77.54669 48 88.3581 79.12881 48 87.9032 80.65129 48 87.11447 82.01041 48 86.01041 83.11447 48 84.65129 83.9032 48 83.12881 84.3581 48 81.54669 84.5 48 80 84.52504 47.72705 80 84.60532 47.44786 80 84.74451 47.17918 80 84.93934 46.93934 80 85.17919 46.74451 80 85.44786 46.60531 80 85.72706 46.52504 80 86 46.5 80 86.27294 46.52504 80 86.55214 46.60531 80 86.82082 46.74451 80 87.06066 46.93934 80 87.2555 47.17918 80 87.39469 47.44786 80 87.47496 47.72705 80 84.53038 47.66073 80.38067 87.43919 47.79301 81.03204 87.47423 47.79301 80.51203 87.42871 47.58028 80.51 87.34942 47.36876 80.50646 87.23586 47.16639 80.5014 87.09004 46.98135 80.49489 86.91649 46.82101 80.48715 86.72185 46.69102 80.47846 86.51401 46.59468 80.46919 86.16934 46.51077 80.45381 85.8049 46.50806 80.88459 85.49056 46.58578 80.42352 85.46157 46.58578 80.85362 85.15728 46.75296 80.40864 84.86932 47.00429 80.39579 84.62908 47.31778 80.77851 84.50434 47.66073 80.76726 84.6555 47.31778 80.38625 85.83494 46.50806 80.43888 87.04229 47.79301 83.16037 86.99848 47.58028 83.14784 86.92218 47.36876 83.12599 86.81289 47.16639 83.09471 86.67256 46.98135 83.05455 86.50555 46.82101 83.00675 86.31823 46.69102 82.95314 86.11822 46.59468 82.8959 85.78652 46.51077 82.80097 85.46471 46.50806 82.70886 85.1333 46.58578 82.61401 84.81256 46.75296 82.52221 84.53544 47.00429 82.4429 84.32968 47.31778 82.38401 84.20926 47.66073 82.34954 84.39632 47.66073 81.55376 84.51948 47.31778 81.57655 84.72993 47.00429 81.6155 85.01337 46.75296 81.66795 85.3414 46.58578 81.72865 85.68038 46.50806 81.79138 86.00952 46.51077 81.85229 86.34877 46.59468 81.91506 86.55335 46.69102 81.95292 86.74493 46.82101 81.98838 86.91574 46.98135 82.01998 87.05928 47.16639 82.04655 87.17105 47.36876 82.06723 87.24909 47.58028 82.08168 87.2939 47.79301 82.08997 85.61344 47.79301 86.28506 85.5753 47.58028 86.26013 85.50887 47.36876 86.21669 85.41372 47.16639 86.15449 85.29154 46.98135 86.07462 85.14614 46.82101 85.97956 84.98307 46.69102 85.87294 84.80894 46.59468 85.7591 84.52017 46.51077 85.5703 84.23999 46.50806 85.38713 83.95146 46.58578 85.1985 83.67224 46.75296 85.01594 83.43096 47.00429 84.85821 83.25183 47.31778 84.74109 83.147 47.66073 84.67256 83.93935 47.66073 83.14311 84.0558 47.31778 83.18922 84.25479 47.00429 83.268 84.52281 46.75296 83.3741 84.833 46.58578 83.49691 85.15351 46.50806 83.6238 85.46475 46.51077 83.747 85.78553 46.59468 83.874 85.97898 46.69102 83.95059 86.16013 46.82101 84.0223 86.32165 46.98135 84.08625 86.45737 47.16639 84.13998 86.56306 47.36876 84.18182 86.63686 47.58028 84.21104 86.67922 47.79301 84.22781 84.12158 47.79301 88.12158 84.08937 47.58028 88.08937 84.03324 47.36876 88.03324 83.95286 47.16639 87.95286 83.84964 46.98135 87.84964 83.72681 46.82101 87.72681 83.58904 46.69102 87.58904 83.44193 46.59468 87.44193 83.19797 46.51077 87.19797 82.96128 46.50806 86.96128 82.71752 46.58578 86.71752 82.48162 46.75296 86.48162 82.2778 47.00429 86.2778 82.12646 47.31778 86.12646 82.0379 47.66073 86.0379 82.28506 47.79301 89.61344 82.26013 47.58028 89.5753 82.21669 47.36876 89.50887 82.15449 47.16639 89.41372 82.07462 46.98135 89.29154 81.97956 46.82101 89.14614 81.87294 46.69102 88.98307 81.7591 46.59468 88.80894 81.5703 46.51077 88.52017 81.38713 46.50806 88.23999 81.1985 46.58578 87.95146 81.01594 46.75296 87.67224 80.85821 47.00429 87.43096 80.74109 47.31778 87.25183 80.67256 47.66073 87.147 80.22781 47.79301 90.67922 80.21104 47.58028 90.63686 80.18182 47.36876 90.56306 80.13998 47.16639 90.45737 80.08625 46.98135 90.32165 80.0223 46.82101 90.16013 79.95059 46.69102 89.97898 79.874 46.59468 89.78553 79.747 46.51077 89.46475 79.6238 46.50806 89.15351 79.49691 46.58578 88.833 79.3741 46.75296 88.52281 79.268 47.00429 88.25479 79.18922 47.31778 88.0558 79.14311 47.66073 87.93935 78.08997 47.79301 91.2939 78.08168 47.58028 91.24909 78.06723 47.36876 91.17105 78.04655 47.16639 91.05928 78.01998 46.98135 90.91574 77.98838 46.82101 90.74493 77.95292 46.69102 90.55335 77.91506 46.59468 90.34877 77.85229 46.51077 90.00952 77.79138 46.50806 89.68038 77.72865 46.58578 89.3414 77.66795 46.75296 89.01337 77.6155 47.00429 88.72993 77.57655 47.31778 88.51948 77.55376 47.66073 88.39632 84.45989 47.66073 81.15869 84.58399 47.31778 81.17568 84.79602 47.00429 81.20472 85.08161 46.75296 81.24384 85.41213 46.58578 81.28911 85.75367 46.50806 81.33589 86.08531 46.51077 81.38131 86.42713 46.59468 81.42813 86.63325 46.69102 81.45635 86.82628 46.82101 81.48279 86.99839 46.98135 81.50637 87.14301 47.16639 81.52617 87.25563 47.36876 81.5416 87.33427 47.58028 81.55237 87.37942 47.79301 81.55855 84.84223 47.00429 80.79774 85.12932 46.75296 80.82364 86.13829 46.51077 80.91468 86.48191 46.59468 80.94567 86.6891 46.69102 80.96437 86.88315 46.82101 80.98188 87.05617 46.98135 80.99748 87.20154 47.16639 81.0106 87.31476 47.36876 81.02082 87.39381 47.58028 81.02794 84.5 48 20 84.52504 48.27294 80 84.60532 48.55214 80 84.74451 48.82081 80 84.93934 49.06066 80 85.17919 49.25549 80 85.44786 49.39468 80 85.72706 49.47496 80 86 49.5 80 86.27294 49.47496 80 86.55214 49.39468 80 86.82082 49.25549 80 87.06066 49.06066 80 87.2555 48.82081 80 87.39469 48.55214 80 87.47496 48.27294 80 87.5 48 20 87.47496 48.27294 20 87.39469 48.55214 20 87.2555 48.82081 20 87.06066 49.06066 20 86.82082 49.25549 20 86.55214 49.39468 20 86.27294 49.47496 20 86 49.5 20 85.72706 49.47496 20 85.44786 49.39468 20 85.17919 49.25549 20 84.93934 49.06066 20 84.74451 48.82081 20 84.60532 48.55214 20 84.52504 48.27294 20 84.53298 48.3128 50 84.63908 48.63078 50 84.82166 48.92817 50 85.07183 49.17834 50 85.36922 49.36092 50 85.6872 49.46702 50 86 49.5 50 86.31281 49.46702 50 86.55214 49.39468 50 86.78378 49.27894 50 86.9961 49.12151 50 87.17835 48.92817 50 87.32233 48.70814 50 87.42359 48.47266 50 87.48176 48.23322 50 76 48 8.5 78.09258 48 8.691988 80.23309 48 9.307435 82.29292 48 10.37455 84.13173 48 11.86827 85.62545 48 13.70709 86.69257 48 15.76691 87.30802 48 17.90743 87.47496 47.72705 20 87.39469 47.44786 20 87.2555 47.17918 20 87.06066 46.93934 20 86.82082 46.74451 20 86.55214 46.60531 20 86.27294 46.52504 20 86 46.5 20 85.72706 46.52504 20 85.44786 46.60531 20 85.17919 46.74451 20 84.93934 46.93934 20 84.74451 47.17918 20 84.60532 47.44786 20 84.52504 47.72705 20 84.3581 48 18.45331 83.9032 48 16.8712 83.11447 48 15.34872 82.01041 48 13.98959 80.65129 48 12.88554 79.12881 48 12.0968 77.54669 48 11.6419 76 48 11.5 76 47.72705 11.47496 76 47.44786 11.39468 76 47.17918 11.25549 76 46.93934 11.06066 76 46.74451 10.82081 76 46.60531 10.55214 76 46.52504 10.27294 76 46.5 10 76 46.52504 9.727056 76 46.60531 9.447858 76 46.74451 9.179185 76 46.93934 8.93934 76 47.17918 8.744507 76 47.44786 8.605318 76 47.72705 8.525042 76.38067 47.66073 11.46962 77.03204 47.79301 8.560811 76.51203 47.79301 8.52577 76.51 47.58028 8.571291 76.50646 47.36876 8.650584 76.5014 47.16639 8.764145 76.49489 46.98135 8.909967 76.48715 46.82101 9.083512 76.47846 46.69102 9.278152 76.46919 46.59468 9.485991 76.45381 46.51077 9.830661 76.88459 46.50806 10.1951 76.42352 46.58578 10.50944 76.85362 46.58578 10.53843 76.40864 46.75296 10.84272 76.39579 47.00429 11.13069 76.77851 47.31778 11.37093 76.76726 47.66073 11.49567 76.38625 47.31778 11.34449 76.43888 46.50806 10.16506 79.16037 47.79301 8.957709 79.14784 47.58028 9.001517 79.12599 47.36876 9.077824 79.09471 47.16639 9.18711 79.05455 46.98135 9.327444 79.00675 46.82101 9.494456 78.95314 46.69102 9.681768 78.8959 46.59468 9.881783 78.80097 46.51077 10.21348 78.70886 46.50806 10.53529 78.61401 46.58578 10.86671 78.52221 46.75296 11.18744 78.4429 47.00429 11.46457 78.38401 47.31778 11.67033 78.34954 47.66073 11.79074 77.55376 47.66073 11.60368 77.57655 47.31778 11.48052 77.6155 47.00429 11.27008 77.66795 46.75296 10.98663 77.72865 46.58578 10.6586 77.79138 46.50806 10.31963 77.85229 46.51077 9.990484 77.91506 46.59468 9.651229 77.95292 46.69102 9.446658 77.98838 46.82101 9.255076 78.01998 46.98135 9.084259 78.04655 47.16639 8.940729 78.06723 47.36876 8.828951 78.08168 47.58028 8.750905 78.08997 47.79301 8.706099 82.28506 47.79301 10.38656 82.26013 47.58028 10.4247 82.21669 47.36876 10.49114 82.15449 47.16639 10.58628 82.07462 46.98135 10.70845 81.97956 46.82101 10.85385 81.87294 46.69102 11.01693 81.7591 46.59468 11.19106 81.5703 46.51077 11.47984 81.38713 46.50806 11.76001 81.1985 46.58578 12.04854 81.01594 46.75296 12.32777 80.85821 47.00429 12.56904 80.74109 47.31778 12.74817 80.67256 47.66073 12.853 79.14311 47.66073 12.06066 79.18922 47.31778 11.9442 79.268 47.00429 11.74521 79.3741 46.75296 11.47719 79.49691 46.58578 11.16701 79.6238 46.50806 10.84649 79.747 46.51077 10.53526 79.874 46.59468 10.21447 79.95059 46.69102 10.02103 80.0223 46.82101 9.839876 80.08625 46.98135 9.678356 80.13998 47.16639 9.542637 80.18182 47.36876 9.436944 80.21104 47.58028 9.363145 80.22781 47.79301 9.320777 84.12158 47.79301 11.87842 84.08937 47.58028 11.91064 84.03324 47.36876 11.96676 83.95286 47.16639 12.04714 83.84964 46.98135 12.15036 83.72681 46.82101 12.2732 83.58904 46.69102 12.41096 83.44193 46.59468 12.55807 83.19797 46.51077 12.80204 82.96128 46.50806 13.03873 82.71752 46.58578 13.28249 82.48162 46.75296 13.51838 82.2778 47.00429 13.72221 82.12646 47.31778 13.87354 82.0379 47.66073 13.96211 85.61344 47.79301 13.71494 85.5753 47.58028 13.73987 85.50887 47.36876 13.78331 85.41372 47.16639 13.84551 85.29154 46.98135 13.92539 85.14614 46.82101 14.02045 84.98307 46.69102 14.12706 84.80894 46.59468 14.24091 84.52017 46.51077 14.4297 84.23999 46.50806 14.61287 83.95146 46.58578 14.80151 83.67224 46.75296 14.98406 83.43096 47.00429 15.14179 83.25183 47.31778 15.25891 83.147 47.66073 15.32745 86.67922 47.79301 15.77219 86.63686 47.58028 15.78897 86.56306 47.36876 15.81818 86.45737 47.16639 15.86003 86.32165 46.98135 15.91376 86.16013 46.82101 15.9777 85.97898 46.69102 16.04942 85.78553 46.59468 16.126 85.46475 46.51077 16.253 85.15351 46.50806 16.37621 84.833 46.58578 16.5031 84.52281 46.75296 16.6259 84.25479 47.00429 16.732 84.0558 47.31778 16.81078 83.93935 47.66073 16.85689 87.2939 47.79301 17.91004 87.24909 47.58028 17.91833 87.17105 47.36876 17.93277 87.05928 47.16639 17.95346 86.91574 46.98135 17.98002 86.74493 46.82101 18.01163 86.55335 46.69102 18.04708 86.34877 46.59468 18.08493 86.00952 46.51077 18.14772 85.68038 46.50806 18.20862 85.3414 46.58578 18.27135 85.01337 46.75296 18.33205 84.72993 47.00429 18.38451 84.51948 47.31778 18.42345 84.39632 47.66073 18.44624 77.15869 47.66073 11.54011 77.17568 47.31778 11.41602 77.20472 47.00429 11.20398 77.24384 46.75296 10.91839 77.28911 46.58578 10.58787 77.33589 46.50806 10.24633 77.38131 46.51077 9.914695 77.42813 46.59468 9.572873 77.45635 46.69102 9.366751 77.48279 46.82101 9.17372 77.50637 46.98135 9.001609 77.52617 47.16639 8.856991 77.5416 47.36876 8.744368 77.55237 47.58028 8.665731 77.55855 47.79301 8.620586 76.79774 47.00429 11.15777 76.82364 46.75296 10.87068 76.91468 46.51077 9.861718 76.94567 46.59468 9.518099 76.96437 46.69102 9.310895 76.98188 46.82101 9.11685 76.99748 46.98135 8.943836 77.0106 47.16639 8.798459 77.02082 47.36876 8.685244 77.02794 47.58028 8.606194 36.75 26.5 0 36.75 26.5 0.3 36.79174 26.04509 0.3 36.92553 25.57976 0.3 37.15751 25.13198 0.3 37.48223 24.73223 0.3 37.88198 24.40751 0.3 38.32976 24.17553 0.3 38.79509 24.04174 0.3 39.25 24 0.3 39.70491 24.04174 0.3 40.17024 24.17553 0.3 40.61802 24.40751 0.3 41.01777 24.73223 0.3 41.34249 25.13198 0.3 41.57447 25.57976 0.3 41.70826 26.04509 0.3 41.75 26.5 0.3 41.75 26.5 0 41.70826 26.04509 0 41.57447 25.57976 0 41.34249 25.13198 0 41.01777 24.73223 0 40.61802 24.40751 0 40.17024 24.17553 0 39.70491 24.04174 0 39.25 24 0 38.79509 24.04174 0 38.32976 24.17553 0 37.88198 24.40751 0 37.48223 24.73223 0 37.15751 25.13198 0 36.92553 25.57976 0 36.79174 26.04509 0 36.87736 25.71224 0.15 36.7804 26.1113 0.15 37.04613 25.31977 0.15 37.28609 24.95305 0.15 37.58984 24.63081 0.15 37.94371 24.36843 0.15 38.32976 24.17553 0.15 38.72866 24.05496 0.15 39.25 24 0.15 39.77134 24.05496 0.15 40.3013 24.23179 0.15 40.79695 24.53609 0.15 41.21391 24.95305 0.15 41.51821 25.4487 0.15 41.69504 25.97866 0.15 51.75 26.5 0 51.75 26.5 0.3 51.79174 26.04509 0.3 51.92553 25.57976 0.3 52.15751 25.13198 0.3 52.48223 24.73223 0.3 52.88198 24.40751 0.3 53.32976 24.17553 0.3 53.79509 24.04174 0.3 54.25 24 0.3 54.70491 24.04174 0.3 55.17024 24.17553 0.3 55.61802 24.40751 0.3 56.01777 24.73223 0.3 56.34249 25.13198 0.3 56.57447 25.57976 0.3 56.70826 26.04509 0.3 56.75 26.5 0.3 56.75 26.5 0 56.70826 26.04509 0 56.57447 25.57976 0 56.34249 25.13198 0 56.01777 24.73223 0 55.61802 24.40751 0 55.17024 24.17553 0 54.70491 24.04174 0 54.25 24 0 53.79509 24.04174 0 53.32976 24.17553 0 52.88198 24.40751 0 52.48223 24.73223 0 52.15751 25.13198 0 51.92553 25.57976 0 51.79174 26.04509 0 51.87736 25.71224 0.15 51.7804 26.1113 0.15 52.04613 25.31977 0.15 52.28609 24.95305 0.15 52.58984 24.63081 0.15 52.94371 24.36843 0.15 53.32976 24.17553 0.15 53.72866 24.05496 0.15 54.25 24 0.15 54.77134 24.05496 0.15 55.3013 24.23179 0.15 55.79695 24.53609 0.15 56.21391 24.95305 0.15 56.51821 25.4487 0.15 56.69504 25.97866 0.15 66.75 26.5 0 66.75 26.5 0.3 66.79174 26.04509 0.3 66.92553 25.57976 0.3 67.15751 25.13198 0.3 67.48223 24.73223 0.3 67.88198 24.40751 0.3 68.32977 24.17553 0.3 68.79509 24.04174 0.3 69.25 24 0.3 69.70491 24.04174 0.3 70.17024 24.17553 0.3 70.61803 24.40751 0.3 71.01777 24.73223 0.3 71.34249 25.13198 0.3 71.57447 25.57976 0.3 71.70827 26.04509 0.3 71.75 26.5 0.3 71.75 26.5 0 71.70827 26.04509 0 71.57447 25.57976 0 71.34249 25.13198 0 71.01777 24.73223 0 70.61803 24.40751 0 70.17024 24.17553 0 69.70491 24.04174 0 69.25 24 0 68.79509 24.04174 0 68.32977 24.17553 0 67.88198 24.40751 0 67.48223 24.73223 0 67.15751 25.13198 0 66.92553 25.57976 0 66.79174 26.04509 0 66.87736 25.71224 0.15 66.78041 26.1113 0.15 67.04613 25.31977 0.15 67.28609 24.95305 0.15 67.58984 24.63081 0.15 67.94371 24.36843 0.15 68.32977 24.17553 0.15 68.72866 24.05496 0.15 69.25 24 0.15 69.77134 24.05496 0.15 70.3013 24.23179 0.15 70.79695 24.53609 0.15 71.21392 24.95305 0.15 71.51821 25.4487 0.15 71.69504 25.97866 0.15 36.75 34.5 0 36.75 34.5 0.3 36.79174 34.04509 0.3 36.92553 33.57976 0.3 37.15751 33.13198 0.3 37.48223 32.73223 0.3 37.88198 32.40751 0.3 38.32976 32.17553 0.3 38.79509 32.04174 0.3 39.25 32 0.3 39.70491 32.04174 0.3 40.17024 32.17553 0.3 40.61802 32.40751 0.3 41.01777 32.73223 0.3 41.34249 33.13198 0.3 41.57447 33.57976 0.3 41.70826 34.04509 0.3 41.75 34.5 0.3 41.75 34.5 0 41.70826 34.04509 0 41.57447 33.57976 0 41.34249 33.13198 0 41.01777 32.73223 0 40.61802 32.40751 0 40.17024 32.17553 0 39.70491 32.04174 0 39.25 32 0 38.79509 32.04174 0 38.32976 32.17553 0 37.88198 32.40751 0 37.48223 32.73223 0 37.15751 33.13198 0 36.92553 33.57976 0 36.79174 34.04509 0 36.87736 33.71224 0.15 36.7804 34.1113 0.15 37.04613 33.31977 0.15 37.28609 32.95305 0.15 37.58984 32.63081 0.15 37.94371 32.36843 0.15 38.32976 32.17553 0.15 38.72866 32.05496 0.15 39.25 32 0.15 39.77134 32.05496 0.15 40.3013 32.23179 0.15 40.79695 32.53609 0.15 41.21391 32.95305 0.15 41.51821 33.4487 0.15 41.69504 33.97866 0.15 51.75 34.5 0 51.75 34.5 0.3 51.79174 34.04509 0.3 51.92553 33.57976 0.3 52.15751 33.13198 0.3 52.48223 32.73223 0.3 52.88198 32.40751 0.3 53.32976 32.17553 0.3 53.79509 32.04174 0.3 54.25 32 0.3 54.70491 32.04174 0.3 55.17024 32.17553 0.3 55.61802 32.40751 0.3 56.01777 32.73223 0.3 56.34249 33.13198 0.3 56.57447 33.57976 0.3 56.70826 34.04509 0.3 56.75 34.5 0.3 56.75 34.5 0 56.70826 34.04509 0 56.57447 33.57976 0 56.34249 33.13198 0 56.01777 32.73223 0 55.61802 32.40751 0 55.17024 32.17553 0 54.70491 32.04174 0 54.25 32 0 53.79509 32.04174 0 53.32976 32.17553 0 52.88198 32.40751 0 52.48223 32.73223 0 52.15751 33.13198 0 51.92553 33.57976 0 51.79174 34.04509 0 51.87736 33.71224 0.15 51.7804 34.1113 0.15 52.04613 33.31977 0.15 52.28609 32.95305 0.15 52.58984 32.63081 0.15 52.94371 32.36843 0.15 53.32976 32.17553 0.15 53.72866 32.05496 0.15 54.25 32 0.15 54.77134 32.05496 0.15 55.3013 32.23179 0.15 55.79695 32.53609 0.15 56.21391 32.95305 0.15 56.51821 33.4487 0.15 56.69504 33.97866 0.15 66.75 34.5 0 66.75 34.5 0.3 66.79174 34.04509 0.3 66.92553 33.57976 0.3 67.15751 33.13198 0.3 67.48223 32.73223 0.3 67.88198 32.40751 0.3 68.32977 32.17553 0.3 68.79509 32.04174 0.3 69.25 32 0.3 69.70491 32.04174 0.3 70.17024 32.17553 0.3 70.61803 32.40751 0.3 71.01777 32.73223 0.3 71.34249 33.13198 0.3 71.57447 33.57976 0.3 71.70827 34.04509 0.3 71.75 34.5 0.3 71.75 34.5 0 71.70827 34.04509 0 71.57447 33.57976 0 71.34249 33.13198 0 71.01777 32.73223 0 70.61803 32.40751 0 70.17024 32.17553 0 69.70491 32.04174 0 69.25 32 0 68.79509 32.04174 0 68.32977 32.17553 0 67.88198 32.40751 0 67.48223 32.73223 0 67.15751 33.13198 0 66.92553 33.57976 0 66.79174 34.04509 0 66.87736 33.71224 0.15 66.78041 34.1113 0.15 67.04613 33.31977 0.15 67.28609 32.95305 0.15 67.58984 32.63081 0.15 67.94371 32.36843 0.15 68.32977 32.17553 0.15 68.72866 32.05496 0.15 69.25 32 0.15 69.77134 32.05496 0.15 70.3013 32.23179 0.15 70.79695 32.53609 0.15 71.21392 32.95305 0.15 71.51821 33.4487 0.15 71.69504 33.97866 0.15 29.25 42.5 0 29.25 42.5 0.3 29.29174 42.04509 0.3 29.42553 41.57976 0.3 29.65751 41.13198 0.3 29.98223 40.73223 0.3 30.38198 40.40751 0.3 30.82976 40.17553 0.3 31.29509 40.04174 0.3 31.75 40 0.3 32.20491 40.04174 0.3 32.67024 40.17553 0.3 33.11802 40.40751 0.3 33.51777 40.73223 0.3 33.84249 41.13198 0.3 34.07447 41.57976 0.3 34.20826 42.04509 0.3 34.25 42.5 0.3 34.25 42.5 0 34.20826 42.04509 0 34.07447 41.57976 0 33.84249 41.13198 0 33.51777 40.73223 0 33.11802 40.40751 0 32.67024 40.17553 0 32.20491 40.04174 0 31.75 40 0 31.29509 40.04174 0 30.82976 40.17553 0 30.38198 40.40751 0 29.98223 40.73223 0 29.65751 41.13198 0 29.42553 41.57976 0 29.29174 42.04509 0 29.37736 41.71224 0.15 29.2804 42.1113 0.15 29.54613 41.31977 0.15 29.78609 40.95305 0.15 30.08984 40.63081 0.15 30.44371 40.36843 0.15 30.82976 40.17553 0.15 31.22866 40.05496 0.15 31.75 40 0.15 32.27134 40.05496 0.15 32.8013 40.23179 0.15 33.29695 40.53609 0.15 33.71391 40.95305 0.15 34.01821 41.4487 0.15 34.19504 41.97866 0.15 36.75 42.5 0 36.75 42.5 0.3 36.79174 42.04509 0.3 36.92553 41.57976 0.3 37.15751 41.13198 0.3 37.48223 40.73223 0.3 37.88198 40.40751 0.3 38.32976 40.17553 0.3 38.79509 40.04174 0.3 39.25 40 0.3 39.70491 40.04174 0.3 40.17024 40.17553 0.3 40.61802 40.40751 0.3 41.01777 40.73223 0.3 41.34249 41.13198 0.3 41.57447 41.57976 0.3 41.70826 42.04509 0.3 41.75 42.5 0.3 41.75 42.5 0 41.70826 42.04509 0 41.57447 41.57976 0 41.34249 41.13198 0 41.01777 40.73223 0 40.61802 40.40751 0 40.17024 40.17553 0 39.70491 40.04174 0 39.25 40 0 38.79509 40.04174 0 38.32976 40.17553 0 37.88198 40.40751 0 37.48223 40.73223 0 37.15751 41.13198 0 36.92553 41.57976 0 36.79174 42.04509 0 36.87736 41.71224 0.15 36.7804 42.1113 0.15 37.04613 41.31977 0.15 37.28609 40.95305 0.15 37.58984 40.63081 0.15 37.94371 40.36843 0.15 38.32976 40.17553 0.15 38.72866 40.05496 0.15 39.25 40 0.15 39.77134 40.05496 0.15 40.3013 40.23179 0.15 40.79695 40.53609 0.15 41.21391 40.95305 0.15 41.51821 41.4487 0.15 41.69504 41.97866 0.15 44.25 42.5 0 44.25 42.5 0.3 44.29174 42.04509 0.3 44.42553 41.57976 0.3 44.65751 41.13198 0.3 44.98223 40.73223 0.3 45.38198 40.40751 0.3 45.82976 40.17553 0.3 46.29509 40.04174 0.3 46.75 40 0.3 47.20491 40.04174 0.3 47.67024 40.17553 0.3 48.11802 40.40751 0.3 48.51777 40.73223 0.3 48.84249 41.13198 0.3 49.07447 41.57976 0.3 49.20826 42.04509 0.3 49.25 42.5 0.3 49.25 42.5 0 49.20826 42.04509 0 49.07447 41.57976 0 48.84249 41.13198 0 48.51777 40.73223 0 48.11802 40.40751 0 47.67024 40.17553 0 47.20491 40.04174 0 46.75 40 0 46.29509 40.04174 0 45.82976 40.17553 0 45.38198 40.40751 0 44.98223 40.73223 0 44.65751 41.13198 0 44.42553 41.57976 0 44.29174 42.04509 0 44.37736 41.71224 0.15 44.2804 42.1113 0.15 44.54613 41.31977 0.15 44.78609 40.95305 0.15 45.08984 40.63081 0.15 45.44371 40.36843 0.15 45.82976 40.17553 0.15 46.22866 40.05496 0.15 46.75 40 0.15 47.27134 40.05496 0.15 47.8013 40.23179 0.15 48.29695 40.53609 0.15 48.71391 40.95305 0.15 49.01821 41.4487 0.15 49.19504 41.97866 0.15 51.75 42.5 0 51.75 42.5 0.3 51.79174 42.04509 0.3 51.92553 41.57976 0.3 52.15751 41.13198 0.3 52.48223 40.73223 0.3 52.88198 40.40751 0.3 53.32976 40.17553 0.3 53.79509 40.04174 0.3 54.25 40 0.3 54.70491 40.04174 0.3 55.17024 40.17553 0.3 55.61802 40.40751 0.3 56.01777 40.73223 0.3 56.34249 41.13198 0.3 56.57447 41.57976 0.3 56.70826 42.04509 0.3 56.75 42.5 0.3 56.75 42.5 0 56.70826 42.04509 0 56.57447 41.57976 0 56.34249 41.13198 0 56.01777 40.73223 0 55.61802 40.40751 0 55.17024 40.17553 0 54.70491 40.04174 0 54.25 40 0 53.79509 40.04174 0 53.32976 40.17553 0 52.88198 40.40751 0 52.48223 40.73223 0 52.15751 41.13198 0 51.92553 41.57976 0 51.79174 42.04509 0 51.87736 41.71224 0.15 51.7804 42.1113 0.15 52.04613 41.31977 0.15 52.28609 40.95305 0.15 52.58984 40.63081 0.15 52.94371 40.36843 0.15 53.32976 40.17553 0.15 53.72866 40.05496 0.15 54.25 40 0.15 54.77134 40.05496 0.15 55.3013 40.23179 0.15 55.79695 40.53609 0.15 56.21391 40.95305 0.15 56.51821 41.4487 0.15 56.69504 41.97866 0.15 59.25 42.5 0 59.25 42.5 0.3 59.29174 42.04509 0.3 59.42553 41.57976 0.3 59.65751 41.13198 0.3 59.98223 40.73223 0.3 60.38198 40.40751 0.3 60.82976 40.17553 0.3 61.29509 40.04174 0.3 61.75 40 0.3 62.20491 40.04174 0.3 62.67024 40.17553 0.3 63.11802 40.40751 0.3 63.51777 40.73223 0.3 63.84249 41.13198 0.3 64.07447 41.57976 0.3 64.20827 42.04509 0.3 64.25 42.5 0.3 64.25 42.5 0 64.20827 42.04509 0 64.07447 41.57976 0 63.84249 41.13198 0 63.51777 40.73223 0 63.11802 40.40751 0 62.67024 40.17553 0 62.20491 40.04174 0 61.75 40 0 61.29509 40.04174 0 60.82976 40.17553 0 60.38198 40.40751 0 59.98223 40.73223 0 59.65751 41.13198 0 59.42553 41.57976 0 59.29174 42.04509 0 59.37736 41.71224 0.15 59.2804 42.1113 0.15 59.54613 41.31977 0.15 59.78609 40.95305 0.15 60.08984 40.63081 0.15 60.44371 40.36843 0.15 60.82976 40.17553 0.15 61.22866 40.05496 0.15 61.75 40 0.15 62.27134 40.05496 0.15 62.8013 40.23179 0.15 63.29695 40.53609 0.15 63.71391 40.95305 0.15 64.01821 41.4487 0.15 64.19504 41.97866 0.15 66.75 42.5 0 66.75 42.5 0.3 66.79174 42.04509 0.3 66.92553 41.57976 0.3 67.15751 41.13198 0.3 67.48223 40.73223 0.3 67.88198 40.40751 0.3 68.32977 40.17553 0.3 68.79509 40.04174 0.3 69.25 40 0.3 69.70491 40.04174 0.3 70.17024 40.17553 0.3 70.61803 40.40751 0.3 71.01777 40.73223 0.3 71.34249 41.13198 0.3 71.57447 41.57976 0.3 71.70827 42.04509 0.3 71.75 42.5 0.3 71.75 42.5 0 71.70827 42.04509 0 71.57447 41.57976 0 71.34249 41.13198 0 71.01777 40.73223 0 70.61803 40.40751 0 70.17024 40.17553 0 69.70491 40.04174 0 69.25 40 0 68.79509 40.04174 0 68.32977 40.17553 0 67.88198 40.40751 0 67.48223 40.73223 0 67.15751 41.13198 0 66.92553 41.57976 0 66.79174 42.04509 0 66.87736 41.71224 0.15 66.78041 42.1113 0.15 67.04613 41.31977 0.15 67.28609 40.95305 0.15 67.58984 40.63081 0.15 67.94371 40.36843 0.15 68.32977 40.17553 0.15 68.72866 40.05496 0.15 69.25 40 0.15 69.77134 40.05496 0.15 70.3013 40.23179 0.15 70.79695 40.53609 0.15 71.21392 40.95305 0.15 71.51821 41.4487 0.15 71.69504 41.97866 0.15 59.25 34.5 0 59.25 34.5 0.3 59.29174 34.04509 0.3 59.42553 33.57976 0.3 59.65751 33.13198 0.3 59.98223 32.73223 0.3 60.38198 32.40751 0.3 60.82976 32.17553 0.3 61.29509 32.04174 0.3 61.75 32 0.3 62.20491 32.04174 0.3 62.67024 32.17553 0.3 63.11802 32.40751 0.3 63.51777 32.73223 0.3 63.84249 33.13198 0.3 64.07447 33.57976 0.3 64.20827 34.04509 0.3 64.25 34.5 0.3 64.25 34.5 0 64.20827 34.04509 0 64.07447 33.57976 0 63.84249 33.13198 0 63.51777 32.73223 0 63.11802 32.40751 0 62.67024 32.17553 0 62.20491 32.04174 0 61.75 32 0 61.29509 32.04174 0 60.82976 32.17553 0 60.38198 32.40751 0 59.98223 32.73223 0 59.65751 33.13198 0 59.42553 33.57976 0 59.29174 34.04509 0 59.37736 33.71224 0.15 59.2804 34.1113 0.15 59.54613 33.31977 0.15 59.78609 32.95305 0.15 60.08984 32.63081 0.15 60.44371 32.36843 0.15 60.82976 32.17553 0.15 61.22866 32.05496 0.15 61.75 32 0.15 62.27134 32.05496 0.15 62.8013 32.23179 0.15 63.29695 32.53609 0.15 63.71391 32.95305 0.15 64.01821 33.4487 0.15 64.19504 33.97866 0.15 44.25 34.5 0 44.25 34.5 0.3 44.29174 34.04509 0.3 44.42553 33.57976 0.3 44.65751 33.13198 0.3 44.98223 32.73223 0.3 45.38198 32.40751 0.3 45.82976 32.17553 0.3 46.29509 32.04174 0.3 46.75 32 0.3 47.20491 32.04174 0.3 47.67024 32.17553 0.3 48.11802 32.40751 0.3 48.51777 32.73223 0.3 48.84249 33.13198 0.3 49.07447 33.57976 0.3 49.20826 34.04509 0.3 49.25 34.5 0.3 49.25 34.5 0 49.20826 34.04509 0 49.07447 33.57976 0 48.84249 33.13198 0 48.51777 32.73223 0 48.11802 32.40751 0 47.67024 32.17553 0 47.20491 32.04174 0 46.75 32 0 46.29509 32.04174 0 45.82976 32.17553 0 45.38198 32.40751 0 44.98223 32.73223 0 44.65751 33.13198 0 44.42553 33.57976 0 44.29174 34.04509 0 44.37736 33.71224 0.15 44.2804 34.1113 0.15 44.54613 33.31977 0.15 44.78609 32.95305 0.15 45.08984 32.63081 0.15 45.44371 32.36843 0.15 45.82976 32.17553 0.15 46.22866 32.05496 0.15 46.75 32 0.15 47.27134 32.05496 0.15 47.8013 32.23179 0.15 48.29695 32.53609 0.15 48.71391 32.95305 0.15 49.01821 33.4487 0.15 49.19504 33.97866 0.15 29.25 34.5 0 29.25 34.5 0.3 29.29174 34.04509 0.3 29.42553 33.57976 0.3 29.65751 33.13198 0.3 29.98223 32.73223 0.3 30.38198 32.40751 0.3 30.82976 32.17553 0.3 31.29509 32.04174 0.3 31.75 32 0.3 32.20491 32.04174 0.3 32.67024 32.17553 0.3 33.11802 32.40751 0.3 33.51777 32.73223 0.3 33.84249 33.13198 0.3 34.07447 33.57976 0.3 34.20826 34.04509 0.3 34.25 34.5 0.3 34.25 34.5 0 34.20826 34.04509 0 34.07447 33.57976 0 33.84249 33.13198 0 33.51777 32.73223 0 33.11802 32.40751 0 32.67024 32.17553 0 32.20491 32.04174 0 31.75 32 0 31.29509 32.04174 0 30.82976 32.17553 0 30.38198 32.40751 0 29.98223 32.73223 0 29.65751 33.13198 0 29.42553 33.57976 0 29.29174 34.04509 0 29.37736 33.71224 0.15 29.2804 34.1113 0.15 29.54613 33.31977 0.15 29.78609 32.95305 0.15 30.08984 32.63081 0.15 30.44371 32.36843 0.15 30.82976 32.17553 0.15 31.22866 32.05496 0.15 31.75 32 0.15 32.27134 32.05496 0.15 32.8013 32.23179 0.15 33.29695 32.53609 0.15 33.71391 32.95305 0.15 34.01821 33.4487 0.15 34.19504 33.97866 0.15 59.25 26.5 0 59.25 26.5 0.3 59.29174 26.04509 0.3 59.42553 25.57976 0.3 59.65751 25.13198 0.3 59.98223 24.73223 0.3 60.38198 24.40751 0.3 60.82976 24.17553 0.3 61.29509 24.04174 0.3 61.75 24 0.3 62.20491 24.04174 0.3 62.67024 24.17553 0.3 63.11802 24.40751 0.3 63.51777 24.73223 0.3 63.84249 25.13198 0.3 64.07447 25.57976 0.3 64.20827 26.04509 0.3 64.25 26.5 0.3 64.25 26.5 0 64.20827 26.04509 0 64.07447 25.57976 0 63.84249 25.13198 0 63.51777 24.73223 0 63.11802 24.40751 0 62.67024 24.17553 0 62.20491 24.04174 0 61.75 24 0 61.29509 24.04174 0 60.82976 24.17553 0 60.38198 24.40751 0 59.98223 24.73223 0 59.65751 25.13198 0 59.42553 25.57976 0 59.29174 26.04509 0 59.37736 25.71224 0.15 59.2804 26.1113 0.15 59.54613 25.31977 0.15 59.78609 24.95305 0.15 60.08984 24.63081 0.15 60.44371 24.36843 0.15 60.82976 24.17553 0.15 61.22866 24.05496 0.15 61.75 24 0.15 62.27134 24.05496 0.15 62.8013 24.23179 0.15 63.29695 24.53609 0.15 63.71391 24.95305 0.15 64.01821 25.4487 0.15 64.19504 25.97866 0.15 44.25 26.5 0 44.25 26.5 0.3 44.29174 26.04509 0.3 44.42553 25.57976 0.3 44.65751 25.13198 0.3 44.98223 24.73223 0.3 45.38198 24.40751 0.3 45.82976 24.17553 0.3 46.29509 24.04174 0.3 46.75 24 0.3 47.20491 24.04174 0.3 47.67024 24.17553 0.3 48.11802 24.40751 0.3 48.51777 24.73223 0.3 48.84249 25.13198 0.3 49.07447 25.57976 0.3 49.20826 26.04509 0.3 49.25 26.5 0.3 49.25 26.5 0 49.20826 26.04509 0 49.07447 25.57976 0 48.84249 25.13198 0 48.51777 24.73223 0 48.11802 24.40751 0 47.67024 24.17553 0 47.20491 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26.95491 0.3 34.07447 27.42024 0.3 33.84249 27.86803 0.3 33.51777 28.26777 0.3 33.11802 28.59249 0.3 32.67024 28.82447 0.3 32.20491 28.95826 0.3 31.75 29 0.3 31.29509 28.95826 0.3 30.82976 28.82447 0.3 30.38198 28.59249 0.3 29.98223 28.26777 0.3 29.65751 27.86803 0.3 29.42553 27.42024 0.3 29.29174 26.95491 0.3 29.30496 27.02134 0.15 29.48179 27.5513 0.15 29.78609 28.04695 0.15 30.20305 28.46391 0.15 30.6987 28.76821 0.15 31.22866 28.94504 0.15 31.75 29 0.15 32.27134 28.94504 0.15 32.67024 28.82447 0.15 33.05629 28.63157 0.15 33.41016 28.36919 0.15 33.71391 28.04695 0.15 33.95387 27.68023 0.15 34.12264 27.28776 0.15 34.2196 26.8887 0.15 44.29174 26.95491 0 44.42553 27.42024 0 44.65751 27.86803 0 44.98223 28.26777 0 45.38198 28.59249 0 45.82976 28.82447 0 46.29509 28.95826 0 46.75 29 0 47.20491 28.95826 0 47.67024 28.82447 0 48.11802 28.59249 0 48.51777 28.26777 0 48.84249 27.86803 0 49.07447 27.42024 0 49.20826 26.95491 0 49.20826 26.95491 0.3 49.07447 27.42024 0.3 48.84249 27.86803 0.3 48.51777 28.26777 0.3 48.11802 28.59249 0.3 47.67024 28.82447 0.3 47.20491 28.95826 0.3 46.75 29 0.3 46.29509 28.95826 0.3 45.82976 28.82447 0.3 45.38198 28.59249 0.3 44.98223 28.26777 0.3 44.65751 27.86803 0.3 44.42553 27.42024 0.3 44.29174 26.95491 0.3 44.30496 27.02134 0.15 44.48179 27.5513 0.15 44.78609 28.04695 0.15 45.20305 28.46391 0.15 45.6987 28.76821 0.15 46.22866 28.94504 0.15 46.75 29 0.15 47.27134 28.94504 0.15 47.67024 28.82447 0.15 48.05629 28.63157 0.15 48.41016 28.36919 0.15 48.71391 28.04695 0.15 48.95387 27.68023 0.15 49.12264 27.28776 0.15 49.2196 26.8887 0.15 59.29174 26.95491 0 59.42553 27.42024 0 59.65751 27.86803 0 59.98223 28.26777 0 60.38198 28.59249 0 60.82976 28.82447 0 61.29509 28.95826 0 61.75 29 0 62.20491 28.95826 0 62.67024 28.82447 0 63.11802 28.59249 0 63.51777 28.26777 0 63.84249 27.86803 0 64.07447 27.42024 0 64.20827 26.95491 0 64.20827 26.95491 0.3 64.07447 27.42024 0.3 63.84249 27.86803 0.3 63.51777 28.26777 0.3 63.11802 28.59249 0.3 62.67024 28.82447 0.3 62.20491 28.95826 0.3 61.75 29 0.3 61.29509 28.95826 0.3 60.82976 28.82447 0.3 60.38198 28.59249 0.3 59.98223 28.26777 0.3 59.65751 27.86803 0.3 59.42553 27.42024 0.3 59.29174 26.95491 0.3 59.30496 27.02134 0.15 59.48179 27.5513 0.15 59.78609 28.04695 0.15 60.20305 28.46391 0.15 60.6987 28.76821 0.15 61.22866 28.94504 0.15 61.75 29 0.15 62.27134 28.94504 0.15 62.67024 28.82447 0.15 63.05629 28.63157 0.15 63.41016 28.36919 0.15 63.71391 28.04695 0.15 63.95387 27.68023 0.15 64.12265 27.28776 0.15 64.2196 26.8887 0.15 29.29174 34.95491 0 29.42553 35.42024 0 29.65751 35.86802 0 29.98223 36.26777 0 30.38198 36.59249 0 30.82976 36.82447 0 31.29509 36.95826 0 31.75 37 0 32.20491 36.95826 0 32.67024 36.82447 0 33.11802 36.59249 0 33.51777 36.26777 0 33.84249 35.86802 0 34.07447 35.42024 0 34.20826 34.95491 0 34.20826 34.95491 0.3 34.07447 35.42024 0.3 33.84249 35.86802 0.3 33.51777 36.26777 0.3 33.11802 36.59249 0.3 32.67024 36.82447 0.3 32.20491 36.95826 0.3 31.75 37 0.3 31.29509 36.95826 0.3 30.82976 36.82447 0.3 30.38198 36.59249 0.3 29.98223 36.26777 0.3 29.65751 35.86802 0.3 29.42553 35.42024 0.3 29.29174 34.95491 0.3 29.30496 35.02134 0.15 29.48179 35.5513 0.15 29.78609 36.04695 0.15 30.20305 36.46391 0.15 30.6987 36.76821 0.15 31.22866 36.94504 0.15 31.75 37 0.15 32.27134 36.94504 0.15 32.67024 36.82447 0.15 33.05629 36.63157 0.15 33.41016 36.36919 0.15 33.71391 36.04695 0.15 33.95387 35.68023 0.15 34.12264 35.28776 0.15 34.2196 34.8887 0.15 44.29174 34.95491 0 44.42553 35.42024 0 44.65751 35.86802 0 44.98223 36.26777 0 45.38198 36.59249 0 45.82976 36.82447 0 46.29509 36.95826 0 46.75 37 0 47.20491 36.95826 0 47.67024 36.82447 0 48.11802 36.59249 0 48.51777 36.26777 0 48.84249 35.86802 0 49.07447 35.42024 0 49.20826 34.95491 0 49.20826 34.95491 0.3 49.07447 35.42024 0.3 48.84249 35.86802 0.3 48.51777 36.26777 0.3 48.11802 36.59249 0.3 47.67024 36.82447 0.3 47.20491 36.95826 0.3 46.75 37 0.3 46.29509 36.95826 0.3 45.82976 36.82447 0.3 45.38198 36.59249 0.3 44.98223 36.26777 0.3 44.65751 35.86802 0.3 44.42553 35.42024 0.3 44.29174 34.95491 0.3 44.30496 35.02134 0.15 44.48179 35.5513 0.15 44.78609 36.04695 0.15 45.20305 36.46391 0.15 45.6987 36.76821 0.15 46.22866 36.94504 0.15 46.75 37 0.15 47.27134 36.94504 0.15 47.67024 36.82447 0.15 48.05629 36.63157 0.15 48.41016 36.36919 0.15 48.71391 36.04695 0.15 48.95387 35.68023 0.15 49.12264 35.28776 0.15 49.2196 34.8887 0.15 59.29174 34.95491 0 59.42553 35.42024 0 59.65751 35.86802 0 59.98223 36.26777 0 60.38198 36.59249 0 60.82976 36.82447 0 61.29509 36.95826 0 61.75 37 0 62.20491 36.95826 0 62.67024 36.82447 0 63.11802 36.59249 0 63.51777 36.26777 0 63.84249 35.86802 0 64.07447 35.42024 0 64.20827 34.95491 0 64.20827 34.95491 0.3 64.07447 35.42024 0.3 63.84249 35.86802 0.3 63.51777 36.26777 0.3 63.11802 36.59249 0.3 62.67024 36.82447 0.3 62.20491 36.95826 0.3 61.75 37 0.3 61.29509 36.95826 0.3 60.82976 36.82447 0.3 60.38198 36.59249 0.3 59.98223 36.26777 0.3 59.65751 35.86802 0.3 59.42553 35.42024 0.3 59.29174 34.95491 0.3 59.30496 35.02134 0.15 59.48179 35.5513 0.15 59.78609 36.04695 0.15 60.20305 36.46391 0.15 60.6987 36.76821 0.15 61.22866 36.94504 0.15 61.75 37 0.15 62.27134 36.94504 0.15 62.67024 36.82447 0.15 63.05629 36.63157 0.15 63.41016 36.36919 0.15 63.71391 36.04695 0.15 63.95387 35.68023 0.15 64.12265 35.28776 0.15 64.2196 34.8887 0.15 66.79174 42.95491 0 66.92553 43.42024 0 67.15751 43.86802 0 67.48223 44.26777 0 67.88198 44.59249 0 68.32977 44.82447 0 68.79509 44.95826 0 69.25 45 0 69.70491 44.95826 0 70.17024 44.82447 0 70.61803 44.59249 0 71.01777 44.26777 0 71.34249 43.86802 0 71.57447 43.42024 0 71.70827 42.95491 0 71.70827 42.95491 0.3 71.57447 43.42024 0.3 71.34249 43.86802 0.3 71.01777 44.26777 0.3 70.61803 44.59249 0.3 70.17024 44.82447 0.3 69.70491 44.95826 0.3 69.25 45 0.3 68.79509 44.95826 0.3 68.32977 44.82447 0.3 67.88198 44.59249 0.3 67.48223 44.26777 0.3 67.15751 43.86802 0.3 66.92553 43.42024 0.3 66.79174 42.95491 0.3 66.80496 43.02134 0.15 66.98179 43.5513 0.15 67.28609 44.04695 0.15 67.70305 44.46391 0.15 68.1987 44.76821 0.15 68.72866 44.94504 0.15 69.25 45 0.15 69.77134 44.94504 0.15 70.17024 44.82447 0.15 70.55629 44.63157 0.15 70.91017 44.36919 0.15 71.21392 44.04695 0.15 71.45388 43.68023 0.15 71.62265 43.28776 0.15 71.7196 42.8887 0.15 59.29174 42.95491 0 59.42553 43.42024 0 59.65751 43.86802 0 59.98223 44.26777 0 60.38198 44.59249 0 60.82976 44.82447 0 61.29509 44.95826 0 61.75 45 0 62.20491 44.95826 0 62.67024 44.82447 0 63.11802 44.59249 0 63.51777 44.26777 0 63.84249 43.86802 0 64.07447 43.42024 0 64.20827 42.95491 0 64.20827 42.95491 0.3 64.07447 43.42024 0.3 63.84249 43.86802 0.3 63.51777 44.26777 0.3 63.11802 44.59249 0.3 62.67024 44.82447 0.3 62.20491 44.95826 0.3 61.75 45 0.3 61.29509 44.95826 0.3 60.82976 44.82447 0.3 60.38198 44.59249 0.3 59.98223 44.26777 0.3 59.65751 43.86802 0.3 59.42553 43.42024 0.3 59.29174 42.95491 0.3 59.30496 43.02134 0.15 59.48179 43.5513 0.15 59.78609 44.04695 0.15 60.20305 44.46391 0.15 60.6987 44.76821 0.15 61.22866 44.94504 0.15 61.75 45 0.15 62.27134 44.94504 0.15 62.67024 44.82447 0.15 63.05629 44.63157 0.15 63.41016 44.36919 0.15 63.71391 44.04695 0.15 63.95387 43.68023 0.15 64.12265 43.28776 0.15 64.2196 42.8887 0.15 51.79174 42.95491 0 51.92553 43.42024 0 52.15751 43.86802 0 52.48223 44.26777 0 52.88198 44.59249 0 53.32976 44.82447 0 53.79509 44.95826 0 54.25 45 0 54.70491 44.95826 0 55.17024 44.82447 0 55.61802 44.59249 0 56.01777 44.26777 0 56.34249 43.86802 0 56.57447 43.42024 0 56.70826 42.95491 0 56.70826 42.95491 0.3 56.57447 43.42024 0.3 56.34249 43.86802 0.3 56.01777 44.26777 0.3 55.61802 44.59249 0.3 55.17024 44.82447 0.3 54.70491 44.95826 0.3 54.25 45 0.3 53.79509 44.95826 0.3 53.32976 44.82447 0.3 52.88198 44.59249 0.3 52.48223 44.26777 0.3 52.15751 43.86802 0.3 51.92553 43.42024 0.3 51.79174 42.95491 0.3 51.80496 43.02134 0.15 51.98179 43.5513 0.15 52.28609 44.04695 0.15 52.70305 44.46391 0.15 53.1987 44.76821 0.15 53.72866 44.94504 0.15 54.25 45 0.15 54.77134 44.94504 0.15 55.17024 44.82447 0.15 55.55629 44.63157 0.15 55.91016 44.36919 0.15 56.21391 44.04695 0.15 56.45387 43.68023 0.15 56.62264 43.28776 0.15 56.7196 42.8887 0.15 44.29174 42.95491 0 44.42553 43.42024 0 44.65751 43.86802 0 44.98223 44.26777 0 45.38198 44.59249 0 45.82976 44.82447 0 46.29509 44.95826 0 46.75 45 0 47.20491 44.95826 0 47.67024 44.82447 0 48.11802 44.59249 0 48.51777 44.26777 0 48.84249 43.86802 0 49.07447 43.42024 0 49.20826 42.95491 0 49.20826 42.95491 0.3 49.07447 43.42024 0.3 48.84249 43.86802 0.3 48.51777 44.26777 0.3 48.11802 44.59249 0.3 47.67024 44.82447 0.3 47.20491 44.95826 0.3 46.75 45 0.3 46.29509 44.95826 0.3 45.82976 44.82447 0.3 45.38198 44.59249 0.3 44.98223 44.26777 0.3 44.65751 43.86802 0.3 44.42553 43.42024 0.3 44.29174 42.95491 0.3 44.30496 43.02134 0.15 44.48179 43.5513 0.15 44.78609 44.04695 0.15 45.20305 44.46391 0.15 45.6987 44.76821 0.15 46.22866 44.94504 0.15 46.75 45 0.15 47.27134 44.94504 0.15 47.67024 44.82447 0.15 48.05629 44.63157 0.15 48.41016 44.36919 0.15 48.71391 44.04695 0.15 48.95387 43.68023 0.15 49.12264 43.28776 0.15 49.2196 42.8887 0.15 36.79174 42.95491 0 36.92553 43.42024 0 37.15751 43.86802 0 37.48223 44.26777 0 37.88198 44.59249 0 38.32976 44.82447 0 38.79509 44.95826 0 39.25 45 0 39.70491 44.95826 0 40.17024 44.82447 0 40.61802 44.59249 0 41.01777 44.26777 0 41.34249 43.86802 0 41.57447 43.42024 0 41.70826 42.95491 0 41.70826 42.95491 0.3 41.57447 43.42024 0.3 41.34249 43.86802 0.3 41.01777 44.26777 0.3 40.61802 44.59249 0.3 40.17024 44.82447 0.3 39.70491 44.95826 0.3 39.25 45 0.3 38.79509 44.95826 0.3 38.32976 44.82447 0.3 37.88198 44.59249 0.3 37.48223 44.26777 0.3 37.15751 43.86802 0.3 36.92553 43.42024 0.3 36.79174 42.95491 0.3 36.80496 43.02134 0.15 36.98179 43.5513 0.15 37.28609 44.04695 0.15 37.70305 44.46391 0.15 38.1987 44.76821 0.15 38.72866 44.94504 0.15 39.25 45 0.15 39.77134 44.94504 0.15 40.17024 44.82447 0.15 40.55629 44.63157 0.15 40.91016 44.36919 0.15 41.21391 44.04695 0.15 41.45387 43.68023 0.15 41.62264 43.28776 0.15 41.7196 42.8887 0.15 29.29174 42.95491 0 29.42553 43.42024 0 29.65751 43.86802 0 29.98223 44.26777 0 30.38198 44.59249 0 30.82976 44.82447 0 31.29509 44.95826 0 31.75 45 0 32.20491 44.95826 0 32.67024 44.82447 0 33.11802 44.59249 0 33.51777 44.26777 0 33.84249 43.86802 0 34.07447 43.42024 0 34.20826 42.95491 0 34.20826 42.95491 0.3 34.07447 43.42024 0.3 33.84249 43.86802 0.3 33.51777 44.26777 0.3 33.11802 44.59249 0.3 32.67024 44.82447 0.3 32.20491 44.95826 0.3 31.75 45 0.3 31.29509 44.95826 0.3 30.82976 44.82447 0.3 30.38198 44.59249 0.3 29.98223 44.26777 0.3 29.65751 43.86802 0.3 29.42553 43.42024 0.3 29.29174 42.95491 0.3 29.30496 43.02134 0.15 29.48179 43.5513 0.15 29.78609 44.04695 0.15 30.20305 44.46391 0.15 30.6987 44.76821 0.15 31.22866 44.94504 0.15 31.75 45 0.15 32.27134 44.94504 0.15 32.67024 44.82447 0.15 33.05629 44.63157 0.15 33.41016 44.36919 0.15 33.71391 44.04695 0.15 33.95387 43.68023 0.15 34.12264 43.28776 0.15 34.2196 42.8887 0.15 66.79174 34.95491 0 66.92553 35.42024 0 67.15751 35.86802 0 67.48223 36.26777 0 67.88198 36.59249 0 68.32977 36.82447 0 68.79509 36.95826 0 69.25 37 0 69.70491 36.95826 0 70.17024 36.82447 0 70.61803 36.59249 0 71.01777 36.26777 0 71.34249 35.86802 0 71.57447 35.42024 0 71.70827 34.95491 0 71.70827 34.95491 0.3 71.57447 35.42024 0.3 71.34249 35.86802 0.3 71.01777 36.26777 0.3 70.61803 36.59249 0.3 70.17024 36.82447 0.3 69.70491 36.95826 0.3 69.25 37 0.3 68.79509 36.95826 0.3 68.32977 36.82447 0.3 67.88198 36.59249 0.3 67.48223 36.26777 0.3 67.15751 35.86802 0.3 66.92553 35.42024 0.3 66.79174 34.95491 0.3 66.80496 35.02134 0.15 66.98179 35.5513 0.15 67.28609 36.04695 0.15 67.70305 36.46391 0.15 68.1987 36.76821 0.15 68.72866 36.94504 0.15 69.25 37 0.15 69.77134 36.94504 0.15 70.17024 36.82447 0.15 70.55629 36.63157 0.15 70.91017 36.36919 0.15 71.21392 36.04695 0.15 71.45388 35.68023 0.15 71.62265 35.28776 0.15 71.7196 34.8887 0.15 51.79174 34.95491 0 51.92553 35.42024 0 52.15751 35.86802 0 52.48223 36.26777 0 52.88198 36.59249 0 53.32976 36.82447 0 53.79509 36.95826 0 54.25 37 0 54.70491 36.95826 0 55.17024 36.82447 0 55.61802 36.59249 0 56.01777 36.26777 0 56.34249 35.86802 0 56.57447 35.42024 0 56.70826 34.95491 0 56.70826 34.95491 0.3 56.57447 35.42024 0.3 56.34249 35.86802 0.3 56.01777 36.26777 0.3 55.61802 36.59249 0.3 55.17024 36.82447 0.3 54.70491 36.95826 0.3 54.25 37 0.3 53.79509 36.95826 0.3 53.32976 36.82447 0.3 52.88198 36.59249 0.3 52.48223 36.26777 0.3 52.15751 35.86802 0.3 51.92553 35.42024 0.3 51.79174 34.95491 0.3 51.80496 35.02134 0.15 51.98179 35.5513 0.15 52.28609 36.04695 0.15 52.70305 36.46391 0.15 53.1987 36.76821 0.15 53.72866 36.94504 0.15 54.25 37 0.15 54.77134 36.94504 0.15 55.17024 36.82447 0.15 55.55629 36.63157 0.15 55.91016 36.36919 0.15 56.21391 36.04695 0.15 56.45387 35.68023 0.15 56.62264 35.28776 0.15 56.7196 34.8887 0.15 36.79174 34.95491 0 36.92553 35.42024 0 37.15751 35.86802 0 37.48223 36.26777 0 37.88198 36.59249 0 38.32976 36.82447 0 38.79509 36.95826 0 39.25 37 0 39.70491 36.95826 0 40.17024 36.82447 0 40.61802 36.59249 0 41.01777 36.26777 0 41.34249 35.86802 0 41.57447 35.42024 0 41.70826 34.95491 0 41.70826 34.95491 0.3 41.57447 35.42024 0.3 41.34249 35.86802 0.3 41.01777 36.26777 0.3 40.61802 36.59249 0.3 40.17024 36.82447 0.3 39.70491 36.95826 0.3 39.25 37 0.3 38.79509 36.95826 0.3 38.32976 36.82447 0.3 37.88198 36.59249 0.3 37.48223 36.26777 0.3 37.15751 35.86802 0.3 36.92553 35.42024 0.3 36.79174 34.95491 0.3 36.80496 35.02134 0.15 36.98179 35.5513 0.15 37.28609 36.04695 0.15 37.70305 36.46391 0.15 38.1987 36.76821 0.15 38.72866 36.94504 0.15 39.25 37 0.15 39.77134 36.94504 0.15 40.17024 36.82447 0.15 40.55629 36.63157 0.15 40.91016 36.36919 0.15 41.21391 36.04695 0.15 41.45387 35.68023 0.15 41.62264 35.28776 0.15 41.7196 34.8887 0.15 66.79174 26.95491 0 66.92553 27.42024 0 67.15751 27.86803 0 67.48223 28.26777 0 67.88198 28.59249 0 68.32977 28.82447 0 68.79509 28.95826 0 69.25 29 0 69.70491 28.95826 0 70.17024 28.82447 0 70.61803 28.59249 0 71.01777 28.26777 0 71.34249 27.86803 0 71.57447 27.42024 0 71.70827 26.95491 0 71.70827 26.95491 0.3 71.57447 27.42024 0.3 71.34249 27.86803 0.3 71.01777 28.26777 0.3 70.61803 28.59249 0.3 70.17024 28.82447 0.3 69.70491 28.95826 0.3 69.25 29 0.3 68.79509 28.95826 0.3 68.32977 28.82447 0.3 67.88198 28.59249 0.3 67.48223 28.26777 0.3 67.15751 27.86803 0.3 66.92553 27.42024 0.3 66.79174 26.95491 0.3 66.80496 27.02134 0.15 66.98179 27.5513 0.15 67.28609 28.04695 0.15 67.70305 28.46391 0.15 68.1987 28.76821 0.15 68.72866 28.94504 0.15 69.25 29 0.15 69.77134 28.94504 0.15 70.17024 28.82447 0.15 70.55629 28.63157 0.15 70.91017 28.36919 0.15 71.21392 28.04695 0.15 71.45388 27.68023 0.15 71.62265 27.28776 0.15 71.7196 26.8887 0.15 51.79174 26.95491 0 51.92553 27.42024 0 52.15751 27.86803 0 52.48223 28.26777 0 52.88198 28.59249 0 53.32976 28.82447 0 53.79509 28.95826 0 54.25 29 0 54.70491 28.95826 0 55.17024 28.82447 0 55.61802 28.59249 0 56.01777 28.26777 0 56.34249 27.86803 0 56.57447 27.42024 0 56.70826 26.95491 0 56.70826 26.95491 0.3 56.57447 27.42024 0.3 56.34249 27.86803 0.3 56.01777 28.26777 0.3 55.61802 28.59249 0.3 55.17024 28.82447 0.3 54.70491 28.95826 0.3 54.25 29 0.3 53.79509 28.95826 0.3 53.32976 28.82447 0.3 52.88198 28.59249 0.3 52.48223 28.26777 0.3 52.15751 27.86803 0.3 51.92553 27.42024 0.3 51.79174 26.95491 0.3 51.80496 27.02134 0.15 51.98179 27.5513 0.15 52.28609 28.04695 0.15 52.70305 28.46391 0.15 53.1987 28.76821 0.15 53.72866 28.94504 0.15 54.25 29 0.15 54.77134 28.94504 0.15 55.17024 28.82447 0.15 55.55629 28.63157 0.15 55.91016 28.36919 0.15 56.21391 28.04695 0.15 56.45387 27.68023 0.15 56.62264 27.28776 0.15 56.7196 26.8887 0.15 36.79174 26.95491 0 36.92553 27.42024 0 37.15751 27.86803 0 37.48223 28.26777 0 37.88198 28.59249 0 38.32976 28.82447 0 38.79509 28.95826 0 39.25 29 0 39.70491 28.95826 0 40.17024 28.82447 0 40.61802 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32.20491 26.45926 32.20491 26.45926 38.32976 26.32547 38.79509 26.45926 32.20491 26.45926 38.79509 26.45926 25.6 30.001 25.6 30.001 38.79509 26.45926 39.25 26.501 25.6 30.001 39.25 26.501 46.75 26.501 46.75 26.501 39.25 26.501 46.29509 26.45926 46.29509 26.45926 39.25 26.501 39.70491 26.45926 46.29509 26.45926 39.70491 26.45926 45.82976 26.32547 45.82976 26.32547 39.70491 26.45926 40.17024 26.32547 45.82976 26.32547 40.17024 26.32547 45.38198 26.09349 45.38198 26.09349 40.17024 26.32547 40.61802 26.09349 45.38198 26.09349 40.61802 26.09349 44.98223 25.76877 44.98223 25.76877 40.61802 26.09349 41.01777 25.76877 44.98223 25.76877 41.01777 25.76877 44.65751 25.36902 44.65751 25.36902 41.01777 25.76877 41.34249 25.36902 44.65751 25.36902 41.34249 25.36902 44.42553 24.92124 44.42553 24.92124 41.34249 25.36902 41.57447 24.92124 44.42553 24.92124 41.57447 24.92124 44.29174 24.45591 44.29174 24.45591 41.57447 24.92124 41.70826 24.45591 44.29174 24.45591 41.70826 24.45591 44.25 24.001 44.25 24.001 41.70826 24.45591 41.75 24.001 44.25 24.001 41.75 24.001 44.29174 23.54609 44.29174 23.54609 41.75 24.001 41.70826 23.54609 44.29174 23.54609 41.70826 23.54609 44.42553 23.08076 44.42553 23.08076 41.70826 23.54609 41.57447 23.08076 44.42553 23.08076 41.57447 23.08076 44.65751 22.63298 44.65751 22.63298 41.57447 23.08076 41.34249 22.63298 44.65751 22.63298 41.34249 22.63298 44.98223 22.23323 44.98223 22.23323 41.34249 22.63298 41.01777 22.23323 44.98223 22.23323 41.01777 22.23323 45.38198 21.90851 45.38198 21.90851 41.01777 22.23323 40.61802 21.90851 45.38198 21.90851 40.61802 21.90851 45.38198 18.09349 45.38198 18.09349 40.61802 21.90851 40.61802 18.09349 45.38198 18.09349 40.61802 18.09349 44.98223 17.76877 44.98223 17.76877 40.61802 18.09349 41.01777 17.76877 44.98223 17.76877 41.01777 17.76877 44.65751 17.36902 44.65751 17.36902 41.01777 17.76877 41.34249 17.36902 44.65751 17.36902 41.34249 17.36902 44.42553 16.92124 44.42553 16.92124 41.34249 17.36902 41.57447 16.92124 44.42553 16.92124 41.57447 16.92124 44.29174 16.45591 44.29174 16.45591 41.57447 16.92124 41.70826 16.45591 44.29174 16.45591 41.70826 16.45591 44.25 16.001 44.25 16.001 41.70826 16.45591 41.75 16.001 44.25 16.001 41.75 16.001 44.29174 15.54609 44.29174 15.54609 41.75 16.001 41.70826 15.54609 44.29174 15.54609 41.70826 15.54609 44.42553 15.08076 44.42553 15.08076 41.70826 15.54609 41.57447 15.08076 44.42553 15.08076 41.57447 15.08076 44.65751 14.63298 44.65751 14.63298 41.57447 15.08076 41.34249 14.63298 44.65751 14.63298 41.34249 14.63298 44.98223 14.23323 44.98223 14.23323 41.34249 14.63298 41.01777 14.23323 44.98223 14.23323 41.01777 14.23323 45.38198 13.90851 45.38198 13.90851 41.01777 14.23323 40.61802 13.90851 45.38198 13.90851 40.61802 13.90851 45.38198 10.09349 45.38198 10.09349 40.61802 13.90851 40.61802 10.09349 45.38198 10.09349 40.61802 10.09349 44.98223 9.768768 44.98223 9.768768 40.61802 10.09349 41.01777 9.768768 44.98223 9.768768 41.01777 9.768768 44.65751 9.369025 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56.57447 15.08076 59.42553 15.08076 56.57447 15.08076 59.65751 14.63298 59.65751 14.63298 56.57447 15.08076 56.34249 14.63298 59.65751 14.63298 56.34249 14.63298 59.98223 14.23323 59.98223 14.23323 56.34249 14.63298 56.01777 14.23323 59.98223 14.23323 56.01777 14.23323 60.38198 13.90851 60.38198 13.90851 56.01777 14.23323 55.61802 13.90851 60.38198 13.90851 55.61802 13.90851 60.38198 10.09349 60.38198 10.09349 55.61802 13.90851 55.61802 10.09349 60.38198 10.09349 55.61802 10.09349 59.98223 9.768768 59.98223 9.768768 55.61802 10.09349 56.01777 9.768768 59.98223 9.768768 56.01777 9.768768 59.65751 9.369025 59.65751 9.369025 56.01777 9.768768 56.34249 9.369025 59.65751 9.369025 56.34249 9.369025 59.42553 8.921237 59.42553 8.921237 56.34249 9.369025 56.57447 8.921237 59.42553 8.921237 56.57447 8.921237 59.29174 8.455908 59.29174 8.455908 56.57447 8.921237 56.70826 8.455908 59.29174 8.455908 56.70826 8.455908 59.25 8.001001 59.25 8.001001 56.70826 8.455908 56.75 8.001001 59.25 8.001001 56.75 8.001001 59.29174 7.546092 59.29174 7.546092 56.75 8.001001 56.70826 7.546092 59.29174 7.546092 56.70826 7.546092 59.42553 7.080763 59.42553 7.080763 56.70826 7.546092 56.57447 7.080763 59.42553 7.080763 56.57447 7.080763 59.65751 6.632976 59.65751 6.632976 56.57447 7.080763 56.34249 6.632976 59.65751 6.632976 56.34249 6.632976 59.98223 6.233233 59.98223 6.233233 56.34249 6.632976 56.01777 6.233233 59.98223 6.233233 56.01777 6.233233 60.38198 5.908511 60.38198 5.908511 56.01777 6.233233 55.61802 5.908511 60.38198 5.908511 55.61802 5.908511 60.82976 5.676529 60.82976 5.676529 55.61802 5.908511 55.17024 5.676529 60.82976 5.676529 55.17024 5.676529 61.29509 5.542737 61.29509 5.542737 55.17024 5.676529 54.70491 5.542737 61.29509 5.542737 54.70491 5.542737 71.6 0.601 71.6 0.601 54.70491 5.542737 54.25 5.501 55.61802 21.90851 55.17024 21.67653 55.61802 18.09349 55.61802 18.09349 55.17024 21.67653 55.17024 18.32547 55.17024 18.32547 55.17024 21.67653 54.70491 21.54274 55.17024 18.32547 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6397 1565 1130 6398 1567 1130 6399 1567 1103 6400 1566 1102 6401 1562 1090 6402 1568 1103 6403 1566 1130 6404 1567 1130 6405 1567 1131 6406 1569 1090 6407 1568 1090 6408 1568 1131 6409 1569 1132 6410 1570 1132 6411 1570 1089 6412 1547 1090 6413 1568 1089 6414 1547 1132 6415 1570 1133 6416 1571 1133 6417 1571 1088 6418 1546 1089 6419 1547 1088 6420 1546 1133 6421 1571 1134 6422 1572 1134 6423 1572 1087 6424 1543 1088 6425 1546 1108 6426 1573 1135 6427 1574 1136 6428 1575 1136 6429 1575 1107 6430 1539 1108 6431 1573 1087 6432 1543 1108 6433 1573 1189 6434 1576 1189 6435 1576 1190 6436 1544 1087 6437 1543 1107 6438 1539 1188 6439 1542 1189 6440 1576 1189 6441 1576 1108 6442 1573 1107 6443 1539 1087 6444 1543 1134 6445 1572 1135 6446 1574 1135 6447 1574 1108 6448 1573 1087 6449 1543 1107 6450 1539 1136 6451 1575 1109 6452 1554 1109 6453 1554 1082 6454 1540 1107 6455 1539 736 6456 966 735 6457 939 1110 6458 1555 1110 6459 1555 1109 6460 1554 736 6461 966 1110 6462 1555 735 6463 939 734 6464 937 734 6465 937 1111 6466 1556 1110 6467 1555 1111 6468 1556 734 6469 937 733 6470 932 733 6471 932 1112 6472 1557 1111 6473 1556 1112 6474 1557 733 6475 932 732 6476 935 732 6477 935 1113 6478 1558 1112 6479 1557 1197 6480 1578 1114 6481 1560 1199 6482 1559 1199 6483 1559 1200 6484 1577 1197 6485 1578 1114 6486 1560 1197 6487 1578 1198 6488 1579 1198 6489 1579 1115 6490 1561 1114 6491 1560 757 6492 941 1116 6493 1314 1202 6494 1313 1202 6495 1313 1203 6496 1373 757 6497 941 756 6498 944 755 6499 946 1118 6500 1329 1118 6501 1329 1117 6502 1328 756 6503 944 1116 6504 1314 757 6505 941 756 6506 944 756 6507 944 1117 6508 1328 1116 6509 1314 755 6510 946 754 6511 948 1119 6512 1331 1119 6513 1331 1118 6514 1329 755 6515 946 754 6516 948 753 6517 950 1120 6518 1333 1120 6519 1333 1119 6520 1331 754 6521 948 753 6522 950 752 6523 952 1121 6524 1335 1121 6525 1335 1120 6526 1333 753 6527 950 752 6528 952 751 6529 954 1122 6530 1337 1122 6531 1337 1121 6532 1335 752 6533 952 1122 6534 1337 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672 7093 1462 602 7094 1457 672 7095 1462 673 7096 1463 602 7097 1457 673 7098 1463 674 7099 1464 602 7100 1457 674 7101 1464 675 7102 1465 602 7103 1457 675 7104 1465 676 7105 1466 602 7106 1457 676 7107 1466 677 7108 1467 602 7109 1457 677 7110 1467 678 7111 1468 602 7112 1457 678 7113 1468 679 7114 1469 602 7115 1457 679 7116 1469 680 7117 1470 602 7118 1457 680 7119 1470 681 7120 1471 602 7121 1457 681 7122 1471 682 7123 1472 602 7124 1457 682 7125 1472 683 7126 1455 602 7127 1457</p> + </triangles> + </mesh> + </geometry> + </library_geometries> + <library_visual_scenes> + <visual_scene id="tethys" name="tethys"> + <node name="Body" id="Body" layer="Final" sid="Body"> + <matrix sid="matrix">1.000000 0.000000 0.000000 -684.179321 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix> + <instance_geometry url="#Body-lib"> + <bind_material> + <technique_common> + <instance_material symbol="Tethys" target="#Tethys"/> + </technique_common> + </bind_material> + </instance_geometry> + <extra> + <technique profile="FCOLLADA"> + <visibility>1.000000</visibility> + </technique> + </extra> + </node> + <node name="Fins_vertical" id="Fins_vertical" layer="Final" sid="Fins_vertical"> + <matrix sid="matrix">1.000000 0.000000 0.000000 1039.645874 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix> + <instance_geometry url="#Fins_vertical-lib"> + <bind_material> + <technique_common> + <instance_material symbol="Tethys" target="#Tethys"/> + </technique_common> + </bind_material> + </instance_geometry> + <extra> + <technique profile="FCOLLADA"> + <visibility>1.000000</visibility> + </technique> + </extra> + </node> + <node name="Fins_Horizontal" id="Fins_Horizontal" layer="Final" sid="Fins_Horizontal"> + <matrix sid="matrix">1.000000 0.000000 0.000000 1039.645874 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix> + <instance_geometry url="#Fins_Horizontal-lib"> + <bind_material> + <technique_common> + <instance_material symbol="Tethys" target="#Tethys"/> + </technique_common> + </bind_material> + </instance_geometry> + <extra> + <technique profile="FCOLLADA"> + <visibility>1.000000</visibility> + </technique> + </extra> + </node> + <node name="Prop" id="Prop" layer="Final" sid="Prop"> + <matrix sid="matrix">1.000000 0.000000 0.000000 -684.179321 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix> + <instance_geometry url="#Prop-lib"> + <bind_material> + <technique_common> + <instance_material symbol="Tethys" target="#Tethys"/> + </technique_common> + </bind_material> + </instance_geometry> + <extra> + <technique profile="FCOLLADA"> + <visibility>1.000000</visibility> + </technique> + </extra> + </node> + <extra> + <technique profile="MAX3D"> + <frame_rate>30.000000</frame_rate> + </technique> + <technique profile="FCOLLADA"> + <start_time>0.000000</start_time> + <end_time>3.333333</end_time> + </technique> + </extra> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#tethys"/> + </scene> +</COLLADA> diff --git a/tutorials/files/underwater_vehicles/my_lrauv/model.config b/tutorials/files/underwater_vehicles/my_lrauv/model.config new file mode 100644 index 0000000000..e663075c3a --- /dev/null +++ b/tutorials/files/underwater_vehicles/my_lrauv/model.config @@ -0,0 +1,15 @@ +<?xml version="1.0"?> +<model> + <name>Tethys</name> + <version>1.0</version> + <sdf version="1.6">model.sdf</sdf> + + <author> + <name>Carlos Agüero</name> + <email>caguero@openrobotics.org</email> + </author> + + <description> + 3D model of MBARI LRAUV Tethys. + </description> +</model> diff --git a/tutorials/files/underwater_vehicles/my_lrauv/model.sdf b/tutorials/files/underwater_vehicles/my_lrauv/model.sdf new file mode 100644 index 0000000000..0cef4274e9 --- /dev/null +++ b/tutorials/files/underwater_vehicles/my_lrauv/model.sdf @@ -0,0 +1,254 @@ +<?xml version="1.0"?> +<sdf version="1.6"> + <model name="my_lrauv"> + <!-- Body --> + <link name="base_link"> + <inertial> + <mass>147.8671</mass> + <inertia> + <ixx>3.000000</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>41.980233</iyy> + <iyz>0</iyz> + <izz>41.980233</izz> + </inertia> + </inertial> + <!-- Uncomment this block to enable neutral buoyancy. --> + <collision name="main_body_buoyancy"> + <geometry> + <box> + <size>2 0.3 0.2464451666666667</size> + </box> + </geometry> + </collision> + <visual name="visual"> + <geometry> + <mesh> + <uri>meshes/tethys.dae</uri> + <submesh> + <name>Body</name> + <center>false</center> + </submesh> + </mesh> + </geometry> + <material> + <diffuse>1.0 1.0 1.0</diffuse> + <specular>1.0 1.0 1.0</specular> + <pbr> + <metal> + <albedo_map>materials/textures/Tethys_Albedo.png</albedo_map> + <normal_map>materials/textures/Tethys_Normal.png</normal_map> + <metalness_map>materials/textures/Tethys_Metalness.png</metalness_map> + <roughness_map>materials/textures/Tethys_Roughness.png</roughness_map> + </metal> + </pbr> + <script> + <uri>materials/scripts/</uri> + <uri>materials/textures/</uri> + <name>tethys/Tethys_Diffuse</name> + </script> + </material> + </visual> + </link> + <!-- Horizontal fins --> + <link name="horizontal_fins"> + <pose>1.05 0 0 0 0 0</pose> + <inertial> + <pose>0 0 0 1.57 0 0.5</pose> + <mass>0.2</mass> + <inertia> + <ixx>0.0007924568755</ixx> + <ixy>-0.0000000002674</ixy> + <ixz>0.0003978158176</ixz> + <iyy>0.0010546736475</iyy> + <iyz>-0.0000000006729</iyz> + <izz>0.0002633558262</izz> + </inertia> + </inertial> + <collision name="collision"> + <geometry> + <box> + <size>0.1 0.1 0.02</size> + </box> + </geometry> + </collision> + <visual name="visual"> + <pose>-1.05 0 0 0 0 0</pose> + <geometry> + <mesh> + <uri>meshes/tethys.dae</uri> + <submesh> + <name>Fins_Horizontal</name> + <center>false</center> + </submesh> + </mesh> + </geometry> + <material> + <diffuse>1.0 1.0 1.0</diffuse> + <specular>1.0 1.0 1.0</specular> + <pbr> + <metal> + <albedo_map>materials/textures/Tethys_Albedo.png</albedo_map> + <normal_map>materials/textures/Tethys_Normal.png</normal_map> + <metalness_map>materials/textures/Tethys_Metalness.png</metalness_map> + <roughness_map>materials/textures/Tethys_Roughness.png</roughness_map> + </metal> + </pbr> + <script> + <uri>materials/scripts/</uri> + <uri>materials/textures/</uri> + <name>tethys/Tethys_Diffuse</name> + </script> + </material> + </visual> + </link> + <!-- Vertical fins --> + <link name="vertical_fins"> + <pose>1.05 0 0 0 0 0</pose> + <inertial> + <mass>0.2</mass> + <inertia> + <ixx>0.0007924568755</ixx> + <ixy>-0.0000000002674</ixy> + <ixz>0.0003978158176</ixz> + <iyy>0.0010546736475</iyy> + <iyz>-0.0000000006729</iyz> + <izz>0.0002633558262</izz> + </inertia> + </inertial> + <collision name="collision"> + <geometry> + <box> + <size>0.1 0.1 0.02</size> + </box> + </geometry> + </collision> + <visual name="visual"> + <pose>-1.05 0 0 0 0 0</pose> + <geometry> + <mesh> + <uri>meshes/tethys.dae</uri> + <submesh> + <name>Fins_vertical</name> + <center>false</center> + </submesh> + </mesh> + </geometry> + <material> + <diffuse>1.0 1.0 1.0</diffuse> + <specular>1.0 1.0 1.0</specular> + <pbr> + <metal> + <albedo_map>materials/textures/Tethys_Albedo.png</albedo_map> + <normal_map>materials/textures/Tethys_Normal.png</normal_map> + <metalness_map>materials/textures/Tethys_Metalness.png</metalness_map> + <roughness_map>materials/textures/Tethys_Roughness.png</roughness_map> + </metal> + </pbr> + <script> + <uri>materials/scripts/</uri> + <uri>materials/textures/</uri> + <name>tethys/Tethys_Diffuse</name> + </script> + </material> + </visual> + </link> + <!-- Propeller --> + <link name="propeller"> + <pose>1.43162 0 0 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.09</mass> + <inertia> + <ixx>0.000143971303</ixx> + <ixy>0.000000000008</ixy> + <ixz>-0.000000000224</ixz> + <iyy>0.000140915448</iyy> + <iyz>-0.000025236433</iyz> + <izz>0.000033571862</izz> + </inertia> + </inertial> + <collision name="collision"> + <geometry> + <box> + <size>0.03 0.1 0.03</size> + </box> + </geometry> + </collision> + <visual name="visual"> + <pose>-1.43162 0 0 0 0 0</pose> + <geometry> + <mesh> + <uri>meshes/tethys.dae</uri> + <submesh> + <name>Prop</name> + <center>false</center> + </submesh> + </mesh> + </geometry> + <material> + <diffuse>1.0 1.0 1.0</diffuse> + <specular>1.0 1.0 1.0</specular> + <pbr> + <metal> + <albedo_map>materials/textures/Tethys_Albedo.png</albedo_map> + <normal_map>materials/textures/Tethys_Normal.png</normal_map> + <metalness_map>materials/textures/Tethys_Metalness.png</metalness_map> + <roughness_map>materials/textures/Tethys_Roughness.png</roughness_map> + </metal> + </pbr> + <script> + <uri>materials/scripts/</uri> + <uri>materials/textures/</uri> + <name>tethys/Tethys_Diffuse</name> + </script> + </material> + </visual> + </link> + <!-- Joints --> + <joint name="horizontal_fins_joint" type="revolute"> + <pose>0 0 0 0 0 0</pose> + <parent>base_link</parent> + <child>horizontal_fins</child> + <axis> + <xyz>0 1 0</xyz> + <limit> + <lower>-0.261799</lower> + <upper>0.261799</upper> + <effort>-1</effort> + <velocity>-1</velocity> + </limit> + </axis> + </joint> + <joint name="vertical_fins_joint" type="revolute"> + <pose>0 0 0 0 0 0</pose> + <parent>base_link</parent> + <child>vertical_fins</child> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-0.261799</lower> + <upper>0.261799</upper> + <effort>-1</effort> + <velocity>-1</velocity> + </limit> + </axis> + </joint> + <joint name="propeller_joint" type="revolute"> + <pose>0 0 0 0 0 0</pose> + <parent>base_link</parent> + <child>propeller</child> + <axis> + <xyz>1 0 0</xyz> + <limit> + <lower>-1e+12</lower> + <upper>1e+12</upper> + <effort>-1</effort> + <velocity>-1</velocity> + </limit> + </axis> + </joint> + + </model> +</sdf> diff --git a/tutorials/lander.md b/tutorials/lander.md new file mode 100644 index 0000000000..5c4a9956fa --- /dev/null +++ b/tutorials/lander.md @@ -0,0 +1,422 @@ +\page lander + +# Overview + +This tutorial explains how to create and load an underwater lander vehicle in +Gazebo. This type of vehicles don't usually have control surfaces or thrusters. +They typically sink until they reach the seafloor or certain depth and go back +to the surface while they collect sensor measurements. + +## Related tutorials + +https://gazebosim.org/api/sim/8/create_vehicle.html + +https://gazebosim.org/api/sim/8/adding_visuals.html + +https://gazebosim.org/api/sim/8/frame_reference.html + +https://gazebosim.org/api/sim/8/adding_system_plugins.html + +https://gazebosim.org/api/sim/8/theory_buoyancy.html + +https://gazebosim.org/api/sim/8/theory_hydrodynamics.html + +# Create your vehicle + +As an example, we'll go through the process of creating an Inkfish underwater +lander vehicle. + +## Basic SDF + +Create a workspace to store your brand new model named `my_lander`. + +```bash +mkdir -p ~/gazebo_maritime/models/my_lander && cd ~/gazebo_maritime/models/my_lander +``` + +Download the `model.config` file and copy it within that directory: + +```bash +wget https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/lander/model.config -o ~/gazebo_maritime/models/my_lander +``` + +In its simple version, the lander does not have any moving pieces, so the SDF +model only has one single link, `base_link` in our case. + +Create a `model.sdf` and paste the following content: + +```xml +<?xml version="1.0"?> +<sdf version="1.6"> + <model name="lander"> + <link name="base_link"> + <inertial> + <!-- Center of mass --> + <pose>0 0 -0.982494 0 0 0</pose> + + <mass>1209.175</mass> + <inertia> + <ixx>205.227945746</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>412.254844006</iyy> + <iyz>0</iyz> + <izz>383.659583213</izz> + </inertia> + </inertial> + + <visual name="chassis_visual"> + <geometry> + <box> + <size>1.325 1.1503 1.5</size> + </box> + </geometry> + </visual> + </link> + + </model> +</sdf> + +``` + +We can now test it in Gazebo. Launch it with: + +```bash +gz sim ~/gazebo_maritime/models/my_lander/model.sdf +``` + +You should visualize your model as a box. + +@image html files/lander/simple_lander.png + +## Adding visuals + +Let's now add nicer-looking visuals to our lander. Download the following +`COLLADA` mesh file from here. + +```bash +mkdir ~/gazebo_maritime/models/my_lander/meshes +wget https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/lander/inkfish-lander.dae -o ~/gazebo_maritime/models/my_lander/meshes +``` + +Replace the `chassis_visual` element in your `model.sdf` with the following +block: + +```xml +<visual name="chassis_visual"> + <geometry> + <mesh> + <uri>meshes/inkfish-lander.dae</uri> + </mesh> + </geometry> +</visual> +``` + +And launch Gazebo to see the results: + +```bash +gz sim ~/my_models/my_lander/model.sdf +``` + +Your box should now be replaced with a better looking mesh. + +@image html files/lander/lander_visuals.png + +## Checking frame of reference + +Launch your lander in Gazebo as we did before: + +```bash +gz sim ~/gazebo_maritime/models/my_lander/model.sdf +``` + +You can visualize the frame of reference of your vehicle by loading the plugin +`Transform Control` from the GUI. + +@image html files/lander/gui_transform_control.png + +Then, click on the vehicle, and then, click on the `Translate mode` icon. You'll +now visualize your lander frame of reference. As this is the expected frame of +reference, we won't need to apply changes in the COLLADA mesh or add any +`<pose>` offset to our `model.sdf`. + +## Adding plugins + +### Buoyancy + +We are going to start extending our model adding buoyancy properties. For that, +we need to do two things: + + +1. Create a Gazebo world SDF file and load the buoyancy world plugin. +2. Add `<collision>` elements to our lander model SDF. + +Let's start with the world. Download the following world: + +```bash +mkdir -p ~/gazebo_maritime/worlds +wget https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/lander/buoyant_lander.sdf -o ~/gazebo_maritime/worlds +export GZ_SIM_RESOURCE_PATH=:$HOME/gazebo_maritime/models +``` + +Now, open your `~/gazebo_maritime/models/my_lander/model.sdf` and add the low +volume outer collision elements to the `base_link`: + +```xml +<collision name="collision_top"> + <pose>0 0 1.5 0 0 0</pose> + <geometry> + <box> + <size>1.325 1.1503 0.000001</size> + </box> + </geometry> +</collision> + +<collision name="collision_rear"> + <pose>0.6625 0 0.75 0 0 0</pose> + <geometry> + <box> + <size>0.000001 1.1503 1.5</size> + </box> + </geometry> +</collision> + +<collision name="collision_front"> + <pose>-0.6625 0 0.75 0 0 0</pose> + <geometry> + <box> + <size>0.000001 1.1503 1.5</size> + </box> + </geometry> +</collision> + +<collision name="collision_starboard"> + <pose>0 0.57515 0.75 0 0 0</pose> + <geometry> + <box> + <size>1.325 0.000001 1.5</size> + </box> + </geometry> +</collision> + +<collision name="collision_port"> + <pose>0 -0.57515 0.75 0 0 0</pose> + <geometry> + <box> + <size>1.325 0.000001 1.5</size> + </box> + </geometry> +</collision> + +<collision name="collision_bottom"> + <pose>0 0 0 0 0 0</pose> + <geometry> + <box> + <size>1.325 1.1503 0.000001</size> + </box> + </geometry> +</collision> +``` + +You can now launch Gazebo: + +```bash +gz sim ~/gazebo_maritime/worlds/buoyant_lander.sdf +``` + +And visualize collisions by right-clicking on the lander, and the, `View` -> +`Collisions`. + +@image html files/lander/lander_collisions.png + +If you hit play, your lander will sink as expected. Although the buoyancy plugin +is loaded, notice that all the collision elements that we added are low-volume. +This is on purpose to make sure that our model can collide with obstacles. +However, it's generating very little buoyancy. + +Let's now compute the reference volume that will make the lander neutrally +buoyant. + +$$volume\\_neutral = \frac{mass}{waterDensity} = \frac{1209.175}{1025} = 1.1796829268292683$$ + +Now, let's account for the volume that our lander already has thanks to the +low-volume outer collision elements: + +$$outer\\_volume = 2*1.1325*1.1503*0.000001 + 2*0.000001*1.1503*1.5 + 2*1.325* 0.000001*1.5 = 1.00313295e-05$$ + +Let's now compute the volume of the main buoyancy `<collision>` element: + +$$main\\_buoyancy\\_volume = 1.1796829268292683 - 1.00313295e-05 = 1.1796728954997684$$ + +Let's verify that our lander is neutrally buoyant now. Add the following +collision element to your `base_link`: + +```xml +<!-- Center of buoyancy --> +<collision name="buoyancy"> + <pose>0 0 0 0 0 0</pose> + <geometry> + <box> + <size>1.1796728954997684 1 1</size> + </box> + </geometry> +</collision> +``` + +And launch Gazebo: + +```bash +gz sim ~/gazebo_maritime/worlds/buoyant_lander.sdf +``` + +Hit play, and your lander should now maintain depth! + +This an example to illustrate how to calculate this reference value, however a +lander is normally designed to sink. + +Change the buoyancy plugin to the following value to be more realistic: + +```xml +<!-- Center of buoyancy --> +<collision name="buoyancy"> + <pose>0 0 0 0 0 0</pose> + <geometry> + <box> + <size>1.14 1 1</size> + </box> + </geometry> +</collision> +``` + +And launch Gazebo: + +```bash +gz sim ~/gazebo_maritime/worlds/buoyant_lander.sdf +``` + +Hit play and the lander will slowly sink and hit the seafloor. + +### Hydrodynamics + +As an underwater vehicle, the lander should be influenced by the water as it +moves. We can do that by attaching the `hydrodynamics` plugin to our lander. +Add the next SDF block to your `model.sdf`. Note that we have empirically +adjusted its values. Follow the +[hydrodynamics tutorial](https://gazebosim.org/api/sim/8/theory_hydrodynamics.html) +for recommendations about how to tune its values. + +```xml +<!-- Hydrodynamics --> +<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> +``` + +### Drop weight + +A common feature in maritime landers is to include a drop weight device. When +this device is enabled, some part of the vehicle is dettached from the main +chassis. At this point, the vehicle becomes positive buoyant, and starts moving +up towards the water surface. + +In order to simulate this behavior, we'll need to make two changes to our lander +model: + +1. Add a new separate link to act as the drop weight. +2. Attach a plugin to disconnect the previous link on demand. + +Let's add the following SDF block to your `model.sdf`: + +```xml +<!-- Drop weight --> +<link name="drop_weight"> + <pose>0 0 0.25 0 0 0</pose> + <visual name="drop_weight_visual"> + <geometry> + <box> + <size>0.5 0.5 0.5</size> + </box> + </geometry> + </visual> + <collision name="drop_weight_collision"> + <geometry> + <box> + <size>0.5 0.5 0.000001</size> + </box> + </geometry> + </collision> + <inertial> + <mass>120</mass> + </inertial> +</link> + +<plugin + filename="gz-sim-detachable-joint-system" + name="gz::sim::systems::DetachableJoint"> + <parent_link>base_link</parent_link> + <child_model>__model__</child_model> + <child_link>drop_weight</child_link> + <topic>/model/lander/drop_weight</topic> +</plugin> +``` + +The mass of the drop weight changes the buoyancy properties of the lander. Let's +calculate the reference values: + +$$volume\\_neutral\\_with\\_dropweight = \frac{mass}{waterDensity} = \frac{1209.175 + 120}{1025} = 1.2967560975609755$$ + +$$volume\\_neutral\\_without\\_dropweight = \frac{mass}{waterDensity} = \frac{1209.175}{1025} = 1.1796829268292683$$ + +We're looking for a volume that's lower than `volume_neutral_with_dropweight` to +cause the lander to sink from its initial configuration, and bigger than +`volume_neutral_without_dropweight` to cause the lander to go back to the +surface when the drop weight is enabled. Let's choose `1.24` as the volume for +our main buoyancy collision element. Replace the `buoyancy` collision element +with: + +```xml +<!-- Center of buoyancy --> +<collision name="buoyancy"> + <pose>0 0 0 0 0 0</pose> + <geometry> + <box> + <size>1.24 1 1</size> + </box> + </geometry> +</collision> +``` + +And launch Gazebo: + +```bash +gz sim ~/gazebo_maritime/worlds/buoyant_lander.sdf +``` + +Hit play and observe how the lander sinks until it hits the seafloor. Then, +enable the drop weight to detach the extra link: + +```bash +gz topic -t "/model/lander/drop_weight" -m gz.msgs.Empty -p "unused: true" +``` + +Observe how your lander comes to the surface. diff --git a/tutorials/theory_hydrodynamics.md b/tutorials/theory_hydrodynamics.md index c0c7a59c33..fb053346be 100644 --- a/tutorials/theory_hydrodynamics.md +++ b/tutorials/theory_hydrodynamics.md @@ -6,6 +6,15 @@ This tutorial describes the theory of operation of the hydrodynamics plugin. It's heavily based on [3], and we recommend to read the full paper for a deeper understanding of its theory. +# Understanding Hydrodynamic Forces + +The behaviour of a moving body through water is different from the behaviour of +a ground based vehicle. In particular bodies moving underwater experience much +more forces derived from drag, buoyancy and lift. The way these forces act on +a body can be seen in the following diagram: + +@image html "files/underwater_vehicles/MBARI forces.png" + # The hydrodynamics plugin To approximate the motion of the vehicle in the ocean environment, we adapt diff --git a/tutorials/underwater_vehicles.md b/tutorials/underwater_vehicles.md index e26f52ae73..3c7de08c5f 100644 --- a/tutorials/underwater_vehicles.md +++ b/tutorials/underwater_vehicles.md @@ -1,75 +1,186 @@ -\page underwater_vehicles Underwater vehicles +\page underwater_vehicles -## Simulating Autonomous Underwater Vehicles +# Overview Gazebo now supports basic simulation of underwater vehicles. This capability is based on the equations described in Fossen's ["Guidance and Control of Ocean Vehicles"](https://www.wiley.com/en-sg/Guidance+and+Control+of+Ocean+Vehicles-p-9780471941132). This tutorial will guide you through the steps you need to setup simulation of an underwater vehicle. In this tutorial, we will -guide you through the setup of the [MBARI Tethys](https://app.gazebosim.org/accurrent/fuel/models/MBARI%20Tethys%20LRAUV). -One can find the final sdf file for this tutorial in the -`examples/worlds/auv_controls.sdf` file. - -## Understanding Hydrodynamic Forces - -The behaviour of a moving body through water is different from the behaviour of -a ground based vehicle. In particular bodies moving underwater experience much -more forces derived from drag, buoyancy and lift. The way these forces act on -a body can be seen in the following diagram: -![force diagram](https://raw.githubusercontent.com/gazebosim/gz-sim/ign-gazebo5/tutorials/files/underwater/MBARI%20forces.png) - -## Setting up the buoyancy plugin - -The buoyancy plugin in Gazebo uses the collision mesh to calculate the volume -of the vehicle. The calculated volume is used to determine the buoyancy force, -which is then applied at the pose of the collision mesh in the link frame. Note -that this may be a different location from the center of volume. - -Additionally, it needs to know the density of the fluid in which -it is moving. By default this is set to 1000kgm^-3. However, in real life this -may vary depending on many factors like depth, salinity of water etc. To add -the buoyancy plugin all one needs to do is add the following under the `<world>` -tag: +guide you through the setup of the [MBARI LRAUV](https://app.gazebosim.org/accurrent/fuel/models/MBARI%20Tethys%20LRAUV). + +## Related tutorials + +https://gazebosim.org/api/sim/8/create_vehicle.html + +https://gazebosim.org/api/sim/8/adding_visuals.html + +https://gazebosim.org/api/sim/8/frame_reference.html + +https://gazebosim.org/api/sim/8/adding_system_plugins.html + +https://gazebosim.org/api/sim/8/theory_buoyancy.html + +https://gazebosim.org/api/sim/8/theory_hydrodynamics.html + + +# Create your vehicle + +As an example, we'll go through the process of creating an MBARI LRAUV +underwater vehicle. + +Create a workspace to store your brand new model named `my_lrauv`. + +```bash +mkdir -p ~/gazebo_maritime/models/my_lrauv && cd ~/gazebo_maritime/models/my_lrauv +``` + +Download all the files from here and copy them within that directory: + +```bash +wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicle/my_lrauv -o ~/gazebo_maritime/models/my_lrauv + +``` + +Open with your favorite editor `~/gazebo_maritime/models/my_lrauv/model.sdf`. + +Notice how the vehicle has been divided into multiple links: chassis, horizontal +fins, vertical fins, and a propeller. This is a very common division in vehicles +that contain one or more thrusters and some control surfaces. Both the propeller +and the control surfaces are movable, thus we need to create separate links for +them. + +At the bottom of the `model.sdf` file, you'll find the three joints that connect +the horizontal fins, vertical fins, and propeller to the main chassis +respectively. All of them are `revolute` joints, but with different upper and +lower limits. While the propeller does not have any limits (to allow infinite +rotation), the fins have lower values to constraint the amount of movement of +the fin. Again, this is a very common pattern that you'll need to configure +based on the specs of your vehicle. + +Let's run the simulation: + +```bash +gz sim ~/gazebo_maritime/models/my_lrauv/model.sdf +``` + +You should see Gazebo with your LRAUV loaded. If you hit play, your robot will +sadly sink. The good news is that this is expected as we did not attach any +plugins to the LRAUV model. Let's do that! + +# Adding buoyancy + +The first thing we need to decide is how much buoyancy we want to provide to our +vehicle. In the LRAUV case, we want a robot with neutral buoyancy. In other +words, our robot should maintain depth when stationary. + +Buoyancy works by opposing the weight of the vehicle. In order to compute the +amount of buoyancy force, first we need to sum the total weight of our LRAUV. +There's a total of `148.3571` kg (`147.8671` + `0.2` + `0.2` + `0.09` kgs) when +we add the mass of the chassis, fins and propeller. The buoyancy force is +proportional the volume of air in the vehicle according to this equation: + +$$volume\\_neutral = \frac{mass}{waterDensity}$$ + +In our case: + +$$volume\\_neutral = \frac{148.3571}{1000} = 0.1483571$$ + +That's the total volume of air that our vehicle should contain to keep the robot +neutral. If the volume is smaller, the vehicle will sink. If the vehicle's +volume is bigger, it will move up. The buoyancy plugin uses all the +`<collision>` elements of the model to compute volume. + +Let's verify the total amount of air volume in our vehicle adding up the volumes +of all the collision elements: + +$$volume = (2 * 0.3 * 0.2464451666666667) + (0.1 * 0.1 * 0.02) + (0.1 * 0.1 * 0.02) + (0.03 * 0.1 * 0.03) = 0.14835710000000002$$ + +This is the volume that we were looking for to achieve neutral buoyancy. Let's +test it! Uncomment the lines in `model.sdf:18--24` to restore the buoyancy and +launch the simulation: + +Let's now download the following world that includes the buoyancy plugin: + +```bash +mkdir -p ~/gazebo_maritime/worlds +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicle/buoyant_lrauv.sdf -o ~/gazebo_maritime/worlds +export GZ_SIM_RESOURCE_PATH=:$HOME/gazebo_maritime/models +``` + +And launch Gazebo: + +```bash +gz sim ~/gazebo_maritime/worlds/buoyant_lrauv.sdf +``` + +Now your LRAUV should stay in place! Let's experiment with the buoyancy values. +Edit the `main_body_buoyancy` geometry in your `model.sdf` to be: + ```xml -<plugin - filename="gz-sim-buoyancy-system" - name="gz::sim::systems::Buoyancy"> - <uniform_fluid_density>1000</uniform_fluid_density> -</plugin> +<box> + <size>2 0.3 0.24</size> +</box> ``` -## Setting up the thrusters +And now relaunch the simulation: + +```bash +gz sim ~/gazebo_maritime/worlds/buoyant_lrauv.sdf +``` + +Your LRAUV should slowly sink. Feel free to experiment with other buoyancy +values but remember to restore the original value: + +```xml +<box> + <size>2 0.3 0.2464451666666667</size> +</box> +``` + +# Adding thrusters We need the vehicle to move, so we will be adding the `Thruster` plugin. The -thruster plugin takes in a force and applies it along with calculating the desired -rpm. Under the `<include>` or `<model>` tag add the following: +thruster plugin takes in a force and applies it along with calculating the +desired rpm. Uncomment the following block from your `buoyant_lrauv.sdf` world: + ```xml <plugin - filename="gz-sim-thruster-system" - name="gz::sim::systems::Thruster"> - <namespace>tethys</namespace> - <joint_name>propeller_joint</joint_name> - <thrust_coefficient>0.004422</thrust_coefficient> - <fluid_density>1000</fluid_density> - <propeller_diameter>0.2</propeller_diameter> + filename="gz-sim-thruster-system" + name="gz::sim::systems::Thruster"> + <namespace>my_lrauv</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> ``` -Now if we were to publish to `/model/tethys/joint/propeller_joint/cmd_thrust` + +And start the simulation: + +```bash +gz sim -r ~/gazebo_maritime/worlds/buoyant_lrauv.sdf ``` -gz topic -t /model/tethys/joint/propeller_joint/cmd_thrust \ - -m gz.msgs.Double -p 'data: -31' + +Now if we were to publish to `/model/my_lrauv/joint/propeller_joint/cmd_thrust` + +```bash +gz topic -t /model/my_lrauv/joint/propeller_joint/cmd_thrust -m gz.msgs.Double -p 'data: -15' ``` -we should see the model move. The thrusters are governed by the equation on + +We should see the model move. The thrusters are governed by the equation on page 246 of Fossen's book. In particular it relates force to rpm as follows: -`Thrust = fluid_density * RPM^2 * thrust_constant * propeller blade size^4`. + +$$thrust = fluid\\_density * RPM^2 * thrust\\_constant * propeller\\_blade\\_size^4$$ + The plugin takes in commands in newtons. So if you have a different thrust curve you can still use the plugin with some type of adapter script. The thrust constant is normally determined by individual manufacturers. In this case we are -using the Tethys's thrust coefficient. you may also build a test rig to measure +using the LRAUV's thrust coefficient. you may also build a test rig to measure your thruster's thrust coefficient. -## Adding Hydrodynamic behaviour +# Adding hydrodynamics You may notice that the robot now keeps getting faster and faster. This is because there is no drag to oppose the thruster's force. We will be using @@ -77,125 +188,134 @@ Fossen's equations which describe the motion of a craft through the water for this. For better understanding of the parameters here, I would refer you to his book. Usually these parameters can be found via fluid simulation programs or experimental tests in a water tub. + +Uncomment the following block from `buoyant_lrauv.sdf` to enable hydrodynamics. + ```xml <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> + <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> ``` -## Control surfaces +# Adding control surfaces Just like aeroplanes, an underwater vehicle may also use fins for stability and control. Fortunately, Gazebo already has a version of the LiftDrag plugin. In this tutorial, we will simply add two liftdrag plugins to the rudder and -elevator of MBARI's Tethys. For more info about the liftdrag plugin including +elevator of MBARI's LRAUV. For more info about the liftdrag plugin including what the parameters mean, you may look at [this gazebo classic tutorial](http://gazebosim.org/tutorials?tut=aerodynamics&cat=physics). Essentially when we tilt the fins, we should experience a lift force which will cause the vehicle to experience a torque and the vehicle should start turning when we move. +These are the relevant blocks to enable the LiftDrag plugins. They're already +attached to the model for you. + ```xml <!-- 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> + <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> + <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> ``` -The numbers in this case were kindly provided by MBARI for the Tethys. + +The numbers in this case were kindly provided by MBARI for the LRAUV. We also need to be able to control the position of the thruster fins so we will -use the joint controller plugin. +use the joint controller plugin. These are the relevant blocks to enable the +control surfaces. They're already attached to the model for you. + ```xml <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> + <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> + <joint_name>vertical_fins_joint</joint_name> + <p_gain>0.1</p_gain> </plugin> ``` -We should now be able to wiggle the fins using the following command: -``` -gz topic -t /model/tethys/joint/vertical_fins_joint/0/cmd_pos \ - -m gz.msgs.Double -p 'data: -0.17' -``` -## Testing the system out +Launch Gazebo: -To control the rudder of the craft run the following +```bash +gz sim -r ~/gazebo_maritime/worlds/buoyant_lrauv.sdf ``` -gz topic -t /model/tethys/joint/vertical_fins_joint/0/cmd_pos \ - -m gz.msgs.Double -p 'data: -0.17' -``` -To apply a thrust you may run the following command -``` -gz topic -t /model/tethys/joint/propeller_joint/cmd_thrust \ --m gz.msgs.Double -p 'data: -31' + +We should now be able to wiggle the fins using the following command: + +```bash +gz topic -t /model/my_lrauv/joint/vertical_fins_joint/0/cmd_pos -m gz.msgs.Double -p 'data: -0.17' ``` -The vehicle should move in a circle. -## Ocean Currents +Now apply some thrust: -When underwater, vehicles are often subject to ocean currents. The hydrodynamics -plugin allows simulation of such currents. We can add a current simply by -publishing the following: +```bash +gz topic -t /model/my_lrauv/joint/propeller_joint/cmd_thrust -m gz.msgs.Double -p 'data: -15' ``` -gz topic -t /ocean_current -m gz.msgs.Vector3d -p 'x: 1, y:0, z:0' + +@image html files/underwater_vehicles/lrauv_turn_left.png + +And observe how the LRAUV turns due to the rudder's position. You can stop the +propeller with: + +```bash +gz topic -t /model/my_lrauv/joint/propeller_joint/cmd_thrust -m gz.msgs.Double -p 'data: 0' ``` -You should observe your vehicle slowly drift to the side. + +And observe how eventually the LRAUV stops due to the water drag. From 5665677802e873aeb55dc8a309833969c78d27f5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org> Date: Tue, 5 Dec 2023 22:00:01 +0100 Subject: [PATCH 17/55] Tweak MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero <caguero@openrobotics.org> --- tutorials/underwater_vehicles.md | 1 - 1 file changed, 1 deletion(-) diff --git a/tutorials/underwater_vehicles.md b/tutorials/underwater_vehicles.md index 3c7de08c5f..56d6977816 100644 --- a/tutorials/underwater_vehicles.md +++ b/tutorials/underwater_vehicles.md @@ -23,7 +23,6 @@ https://gazebosim.org/api/sim/8/theory_buoyancy.html https://gazebosim.org/api/sim/8/theory_hydrodynamics.html - # Create your vehicle As an example, we'll go through the process of creating an MBARI LRAUV From d3b3970f071a659aa47fad19d12b7598449bd05a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org> Date: Tue, 5 Dec 2023 22:06:42 +0100 Subject: [PATCH 18/55] Tweaks MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero <caguero@openrobotics.org> --- tutorials/adding_system_plugins.md | 8 ++++---- tutorials/adding_visuals.md | 14 +++++++------- tutorials/create_vehicle.md | 2 +- 3 files changed, 12 insertions(+), 12 deletions(-) diff --git a/tutorials/adding_system_plugins.md b/tutorials/adding_system_plugins.md index 87b7852e3b..7c40a6e358 100644 --- a/tutorials/adding_system_plugins.md +++ b/tutorials/adding_system_plugins.md @@ -39,7 +39,7 @@ your turtle does not sink anymore. ```bash mkdir -p ~/gazebo_maritime/worlds -wget https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/adding_system_plugins/buoyant_turtle.sdf -o ~/gazebo_maritime/worlds +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/adding_system_plugins/buoyant_turtle.sdf -o ~/gazebo_maritime/worlds/buoyant_turtle.sdf export GZ_SIM_RESOURCE_PATH=:$HOME/gazebo_maritime/models gz sim -r ~/gazebo_maritime/worlds/buoyant_turtle.sdf ``` @@ -67,7 +67,7 @@ the goal is to move the model one meter and stop it. Uncomment the following block from `buoyant_turtle.sdf`: -```bash +```xml <plugin filename="gz-sim-trajectory-follower-system" name="gz::sim::systems::TrajectoryFollower"> <link_name>base_link</link_name> @@ -91,7 +91,7 @@ moving on ice. Now, let's add hydrodynamics. Uncomment the following block from `buoyant_turtle.sdf`: -``` +```xml <plugin filename="gz-sim-hydrodynamics-system" name="gz::sim::systems::Hydrodynamics"> @@ -119,7 +119,7 @@ Uncomment the following block from `buoyant_turtle.sdf`: And run Gazebo: -``` +```bash gz sim -r ~/gazebo_maritime/worlds/buoyant_turtle.sdf ``` diff --git a/tutorials/adding_visuals.md b/tutorials/adding_visuals.md index f51fce9ae0..236e5981e1 100644 --- a/tutorials/adding_visuals.md +++ b/tutorials/adding_visuals.md @@ -36,7 +36,7 @@ information. Another benefit of Gazebo's model structure is that it conveniently organizes resources, such as mesh files, required by the model. -``` +```bash my_turtle ├── materials Directory for textures └── textures @@ -48,21 +48,21 @@ my_turtle Create the directories to add the mesh and its texture: -``` +```bash mkdir -p ~/gazebo_maritime/models/my_turtle/meshes mkdir -p ~/gazebo_maritime/models/my_turtle/materials/textures ``` Next, download the COLLADA mesh and its texture. -``` -wget https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/adding_visuals/turtle.dae -o ~/gazebo_maritime/models/my_turtle/meshes -wget https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/adding_visuals/Turtle_BaseColor.png -o ~/gazebo_maritime/models/my_turtle/materials/textures +```bash +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/adding_visuals/turtle.dae -o ~/gazebo_maritime/models/my_turtle/meshes/turtle.dae +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/adding_visuals/Turtle_BaseColor.png -o ~/gazebo_maritime/models/my_turtle/materials/textures/Turtle_BaseColor.png ``` Now, let's edit our `model.sdf` to use the new mesh as our visual. -``` +```xml <?xml version="1.0" ?> <sdf version="1.6"> <model name="turtle"> @@ -108,7 +108,7 @@ Now, let's edit our `model.sdf` to use the new mesh as our visual. Launch Gazebo and load our model: -``` +```bash gz sim ~/gazebo_maritime/models/my_turtle/model.sdf ``` diff --git a/tutorials/create_vehicle.md b/tutorials/create_vehicle.md index 97dc9b7bfd..f09569c193 100644 --- a/tutorials/create_vehicle.md +++ b/tutorials/create_vehicle.md @@ -14,7 +14,7 @@ https://gazebosim.org/docs/harmonic/building_robot Create a workspace to store your brand new model named `my_turtle`. -``` +```bash mkdir -p ~/gazebo_maritime/models/my_turtle && cd ~/gazebo_maritime/models/my_turtle ``` From ded077d2c823984dceea71806e7439f2e841d7f3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org> Date: Tue, 5 Dec 2023 22:08:01 +0100 Subject: [PATCH 19/55] Update tutorials/theory_buoyancy.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: Carlos Agüero <cen.aguero@gmail.com> --- tutorials/theory_buoyancy.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/theory_buoyancy.md b/tutorials/theory_buoyancy.md index 26e5c40272..b8da82aba4 100644 --- a/tutorials/theory_buoyancy.md +++ b/tutorials/theory_buoyancy.md @@ -51,7 +51,7 @@ neutrally buoyant, the second sinks, and the third floats. Run the following command to see an example of a buoyancy plugin configured with a uniform fluid density: -``` +```bash gz sim buoyancy.sdf ``` From 6aaa9f2f271ed27b7aaa5f93f947c2a205ef38cf Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org> Date: Tue, 5 Dec 2023 22:08:12 +0100 Subject: [PATCH 20/55] Update tutorials/theory_buoyancy.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: Carlos Agüero <cen.aguero@gmail.com> --- tutorials/theory_buoyancy.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/theory_buoyancy.md b/tutorials/theory_buoyancy.md index b8da82aba4..755a6c0622 100644 --- a/tutorials/theory_buoyancy.md +++ b/tutorials/theory_buoyancy.md @@ -65,7 +65,7 @@ An example for such a configuration may be found in the `<GAZEBO_INSTALL_PATH>/examples/worlds/graded_buoyancy.sdf` world (included with Gazebo). -``` +```bash gz sim graded_buoyancy.sdf ``` From d05b43dad9cf417eb2e6241ea1382967bd4126c1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org> Date: Tue, 5 Dec 2023 22:08:22 +0100 Subject: [PATCH 21/55] Update tutorials/theory_buoyancy.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: Carlos Agüero <cen.aguero@gmail.com> --- tutorials/theory_buoyancy.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/theory_buoyancy.md b/tutorials/theory_buoyancy.md index 755a6c0622..39cb77eb89 100644 --- a/tutorials/theory_buoyancy.md +++ b/tutorials/theory_buoyancy.md @@ -34,7 +34,7 @@ to this equation: $$volume\\_neutral = \frac{mass}{waterDensity}$$ -Pure water's density is 1000 kgm^-3 and seawater's density is 1025 kgm^-3 +Pure water's density is `1000 kgm^-3` and seawater's density is `1025 kgm^-3` approximately. The mass of your vehicle is something that you'll decide or know by adding the mass of all your links. With that in mind, you'll be able to compute the volume of air that will make your vehicle neutrally buoyant. From e22a5ab522197b769f102dc6ebea385a4f9a8b4c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org> Date: Tue, 5 Dec 2023 22:08:31 +0100 Subject: [PATCH 22/55] Update tutorials/theory_buoyancy.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: Carlos Agüero <cen.aguero@gmail.com> --- tutorials/theory_buoyancy.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/theory_buoyancy.md b/tutorials/theory_buoyancy.md index 39cb77eb89..edf1f0b7aa 100644 --- a/tutorials/theory_buoyancy.md +++ b/tutorials/theory_buoyancy.md @@ -60,7 +60,7 @@ gz sim buoyancy.sdf Often when simulating a maritime environment one may need to simulate both surface and underwater vessels. This means the buoyancy plugin needs to take into account two different fluids. One being water with a density of -~1000 kgm^-3 and another being air with a very light density of say 1 kgm^-3. +`~1000 kgm^-3` and another being air with a very light density of say `1 kgm^-3`. An example for such a configuration may be found in the `<GAZEBO_INSTALL_PATH>/examples/worlds/graded_buoyancy.sdf` world (included with Gazebo). From d6f3757f67f63d354e4527fb11ac363d8e954427 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org> Date: Tue, 5 Dec 2023 22:08:37 +0100 Subject: [PATCH 23/55] Update tutorials/theory_buoyancy.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: Carlos Agüero <cen.aguero@gmail.com> --- tutorials/theory_buoyancy.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/theory_buoyancy.md b/tutorials/theory_buoyancy.md index edf1f0b7aa..e2ec90809c 100644 --- a/tutorials/theory_buoyancy.md +++ b/tutorials/theory_buoyancy.md @@ -74,7 +74,7 @@ harmonic motion on the surface of the fluid (this is expected behaviour as the harmonic motiorn is usually damped by the hydrodynamic forces. See the hydrodynamics tutorial for an example of how to use it). The key part of this is -``` +```xml <graded_buoyancy> <default_density>1000</default_density> <density_change> From c8fe299a120e53bf6f9827f87f7062b76b461b6d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org> Date: Tue, 5 Dec 2023 22:08:47 +0100 Subject: [PATCH 24/55] Update tutorials/theory_hydrodynamics.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: Carlos Agüero <cen.aguero@gmail.com> --- tutorials/theory_hydrodynamics.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/theory_hydrodynamics.md b/tutorials/theory_hydrodynamics.md index c0c7a59c33..b74409a4b6 100644 --- a/tutorials/theory_hydrodynamics.md +++ b/tutorials/theory_hydrodynamics.md @@ -72,7 +72,7 @@ surrounding the cylinder. * Trajectory follower: It will apply some force to move the cylinder one meter in the positive `X` direction. -``` +```bash mkdir -p ~/gazebo_maritime/worlds wget https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/theory_hydrodynamics/buoyant_cylinder.sdf -o ~/gazebo_maritime/worlds gz sim -r ~/gazebo_maritime/worlds/buoyant_cylinder.sdf From f8f56785f23261d68b41acf6b4b51404a2d2d779 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org> Date: Tue, 5 Dec 2023 22:08:55 +0100 Subject: [PATCH 25/55] Update tutorials/theory_hydrodynamics.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: Carlos Agüero <cen.aguero@gmail.com> --- tutorials/theory_hydrodynamics.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/theory_hydrodynamics.md b/tutorials/theory_hydrodynamics.md index b74409a4b6..f26d1c7d9f 100644 --- a/tutorials/theory_hydrodynamics.md +++ b/tutorials/theory_hydrodynamics.md @@ -86,7 +86,7 @@ model only moves in `X` direction (or surge in the maritime terminology), we're going to reduce the value of `<xUabsU>` and `<xU>` parameters. Update these parameters to: -``` +```xml <xUabsU>-0.32282</xUabsU> <xU>-2.5</xU> ``` From 18c8fb338197323c1dcb090dcf2cf2f7577ac30d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org> Date: Tue, 5 Dec 2023 22:09:01 +0100 Subject: [PATCH 26/55] Update tutorials/theory_hydrodynamics.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: Carlos Agüero <cen.aguero@gmail.com> --- tutorials/theory_hydrodynamics.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/theory_hydrodynamics.md b/tutorials/theory_hydrodynamics.md index f26d1c7d9f..703ad0e349 100644 --- a/tutorials/theory_hydrodynamics.md +++ b/tutorials/theory_hydrodynamics.md @@ -93,7 +93,7 @@ parameters to: And run Gazebo again: -``` +```bash gz sim -r ~/gazebo_maritime/worlds/buoyant_cylinder.sdf ``` From 52fa02da5b4c01a3c9c4d78c36b169c17a9711f5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org> Date: Tue, 5 Dec 2023 22:09:08 +0100 Subject: [PATCH 27/55] Update tutorials/theory_hydrodynamics.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: Carlos Agüero <cen.aguero@gmail.com> --- tutorials/theory_hydrodynamics.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/theory_hydrodynamics.md b/tutorials/theory_hydrodynamics.md index 703ad0e349..3bd04c7076 100644 --- a/tutorials/theory_hydrodynamics.md +++ b/tutorials/theory_hydrodynamics.md @@ -104,7 +104,7 @@ direction that the model is moving. Let's now try the opposite. Go ahead and update the same parameters to the following values: -``` +```xml <xUabsU>-3.5</xUabsU> <xU>-20</xU> ``` From 412bce22e331ced22c05061816a932cf4a4b521f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org> Date: Tue, 5 Dec 2023 22:09:15 +0100 Subject: [PATCH 28/55] Update tutorials/theory_hydrodynamics.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: Carlos Agüero <cen.aguero@gmail.com> --- tutorials/theory_hydrodynamics.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/theory_hydrodynamics.md b/tutorials/theory_hydrodynamics.md index 3bd04c7076..dd68646e98 100644 --- a/tutorials/theory_hydrodynamics.md +++ b/tutorials/theory_hydrodynamics.md @@ -111,7 +111,7 @@ following values: And run Gazebo: -``` +```bash gz sim -r ~/gazebo_maritime/worlds/buoyant_cylinder.sdf ``` From d4c5b70fe54a426f57ef0f50104b9e7526a32ebc Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org> Date: Tue, 5 Dec 2023 22:11:01 +0100 Subject: [PATCH 29/55] Tweak MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero <caguero@openrobotics.org> --- tutorials/theory_hydrodynamics.md | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/tutorials/theory_hydrodynamics.md b/tutorials/theory_hydrodynamics.md index dd68646e98..1e9f70d093 100644 --- a/tutorials/theory_hydrodynamics.md +++ b/tutorials/theory_hydrodynamics.md @@ -74,7 +74,7 @@ in the positive `X` direction. ```bash mkdir -p ~/gazebo_maritime/worlds -wget https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/theory_hydrodynamics/buoyant_cylinder.sdf -o ~/gazebo_maritime/worlds +wget https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/theory_hydrodynamics/buoyant_cylinder.sdf -o ~/gazebo_maritime/worlds/buoyant_cylinder.sdf gz sim -r ~/gazebo_maritime/worlds/buoyant_cylinder.sdf ``` @@ -123,8 +123,7 @@ damping in the surge axis, causing the vehicle to slowly move towards its goal. The hydrodynamics plugin requires a large number of parameters to model the added mass and drag behaviors of underwater vehicles. This section describes a method to generate an initial set of parameters for the hydrodynamics plugin. -Note these parameters need to be tested and possibly tweaked to guarantee model -stability. +Note these parameters need to be tested and possibly tweaked to guarantee model stability. ## Added mass From 8ba76b13a76ddf19e39e7499448bea3a830e1685 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org> Date: Wed, 6 Dec 2023 14:15:00 +0100 Subject: [PATCH 30/55] Update tutorials/create_vehicle.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Ian Chen <ichen@openrobotics.org> Signed-off-by: Carlos Agüero <cen.aguero@gmail.com> --- tutorials/create_vehicle.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/create_vehicle.md b/tutorials/create_vehicle.md index f09569c193..7128fb692a 100644 --- a/tutorials/create_vehicle.md +++ b/tutorials/create_vehicle.md @@ -98,7 +98,7 @@ Launch Gazebo and load our model: gz sim ~/gazebo_maritime/models/my_turtle/model.sdf ``` -You should visualize your model as a cylinder and the Gazebo `Entity Tree` +You should see your model visualized as a cylinder and the Gazebo `Entity Tree` should capture its structure. @image html files/create_vehicle/basic_model.png From ff1e127de6929a345ae40fdeda7aaff6aaf5baef Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org> Date: Wed, 6 Dec 2023 14:20:34 +0100 Subject: [PATCH 31/55] Update tutorials/adding_visuals.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Ian Chen <ichen@openrobotics.org> Signed-off-by: Carlos Agüero <cen.aguero@gmail.com> --- tutorials/adding_visuals.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/adding_visuals.md b/tutorials/adding_visuals.md index 236e5981e1..b12c66ae63 100644 --- a/tutorials/adding_visuals.md +++ b/tutorials/adding_visuals.md @@ -112,6 +112,6 @@ Launch Gazebo and load our model: gz sim ~/gazebo_maritime/models/my_turtle/model.sdf ``` -You should visualize your model as a mesh now! +You should see your model visualized as a mesh now! @image html files/adding_visuals/basic_visual_model.png From ef9be7b25be46878ea6a90219cec288e41257826 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org> Date: Wed, 6 Dec 2023 14:21:26 +0100 Subject: [PATCH 32/55] Tweaks MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero <caguero@openrobotics.org> --- tutorials/adding_system_plugins.md | 7 +++++++ tutorials/adding_visuals.md | 7 ++++--- tutorials/create_vehicle.md | 2 +- 3 files changed, 12 insertions(+), 4 deletions(-) diff --git a/tutorials/adding_system_plugins.md b/tutorials/adding_system_plugins.md index 7c40a6e358..d4c618c561 100644 --- a/tutorials/adding_system_plugins.md +++ b/tutorials/adding_system_plugins.md @@ -5,6 +5,13 @@ This tutorial explains how to add plugins to your model to provide extra capabilities to it. +## Prerequisites + +Make sure to go through the following tutorial first, where you'll learn how +to create the vehicle used in this tutorial. + +https://gazebosim.org/api/sim/8/create_vehicle.html + ## Related tutorials https://gazebosim.org/api/sim/8/createsystemplugins.html diff --git a/tutorials/adding_visuals.md b/tutorials/adding_visuals.md index 236e5981e1..2c2753e195 100644 --- a/tutorials/adding_visuals.md +++ b/tutorials/adding_visuals.md @@ -23,8 +23,9 @@ improve performance. SDF supports the notion of visual as described [here](http://sdformat.org/spec?ver=1.10&elem=visual). -From our previous tutorial, the turtle visual is a cylinder. Let's use a COLLADA -mesh instead. +From our +[previous tutorial](https://gazebosim.org/api/sim/8/create_vehicle.html), +the turtle visual is a cylinder. Let's use a COLLADA mesh instead. ## Model directory structure @@ -40,7 +41,7 @@ resources, such as mesh files, required by the model. my_turtle ├── materials Directory for textures └── textures -├── meshes Directory for COLLADA, STL, and Wavefront OBJ files +├── meshes Directory for mesh files such as COLLADA, STL, and Wavefront OBJ files ├── thumbnails Directory for preview images on Fuel ├── model.config Meta data about the model └── model.sdf SDF description of the model diff --git a/tutorials/create_vehicle.md b/tutorials/create_vehicle.md index f09569c193..6ad759fe28 100644 --- a/tutorials/create_vehicle.md +++ b/tutorials/create_vehicle.md @@ -87,7 +87,7 @@ model. You can find more information on the [SDF website](http://sdformat.org/). </sdf> ``` -The `model.sdf` file contains the necessary tags to instantiate a very minimum +The `model.sdf` file contains the necessary tags to instantiate a very minimal model named `my_turtle` using SDF version 1.6. # Load your model in Gazebo From 592eec73b2e2b87a08206e05f881595d08736dcd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org> Date: Wed, 6 Dec 2023 14:25:26 +0100 Subject: [PATCH 33/55] Update tutorials/theory_buoyancy.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Ian Chen <ichen@openrobotics.org> Signed-off-by: Carlos Agüero <cen.aguero@gmail.com> --- tutorials/theory_buoyancy.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/theory_buoyancy.md b/tutorials/theory_buoyancy.md index e2ec90809c..bd2856177e 100644 --- a/tutorials/theory_buoyancy.md +++ b/tutorials/theory_buoyancy.md @@ -17,7 +17,7 @@ The buoyancy plugin uses the `<collision>` elements of each SDF model to compute the volume of fluid displaced. A common pattern for the maritime domain is to create very thin collision -elements sorrounding the vehicle (with low volume) and a separate collision +elements surrounding the vehicle (with low volume) and a separate collision element within the vehicle itself. The collection of low volume collision elements work as a shell to generate contacts when necessary. The extra collision element is only used to generate the agregated desired air volume. From 6dd4668eaf29a7b27b493f542dd7c9a758c8bdb1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org> Date: Wed, 6 Dec 2023 14:25:45 +0100 Subject: [PATCH 34/55] Update tutorials/theory_buoyancy.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Ian Chen <ichen@openrobotics.org> Signed-off-by: Carlos Agüero <cen.aguero@gmail.com> --- tutorials/theory_buoyancy.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/theory_buoyancy.md b/tutorials/theory_buoyancy.md index bd2856177e..f1ea84d2a8 100644 --- a/tutorials/theory_buoyancy.md +++ b/tutorials/theory_buoyancy.md @@ -20,7 +20,7 @@ A common pattern for the maritime domain is to create very thin collision elements surrounding the vehicle (with low volume) and a separate collision element within the vehicle itself. The collection of low volume collision elements work as a shell to generate contacts when necessary. The extra -collision element is only used to generate the agregated desired air volume. +collision element is only used to generate the aggregated desired air volume. The outer set of collision elements in combination with the buoyancy collision element induce forces at the center of each `<collision>` element. If you From 6b250d9704c35a79aeac9790242fa76a10e04bd3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org> Date: Wed, 6 Dec 2023 14:25:54 +0100 Subject: [PATCH 35/55] Update tutorials/theory_buoyancy.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Ian Chen <ichen@openrobotics.org> Signed-off-by: Carlos Agüero <cen.aguero@gmail.com> --- tutorials/theory_buoyancy.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/theory_buoyancy.md b/tutorials/theory_buoyancy.md index f1ea84d2a8..6e3c4c4687 100644 --- a/tutorials/theory_buoyancy.md +++ b/tutorials/theory_buoyancy.md @@ -71,7 +71,7 @@ gz sim graded_buoyancy.sdf You should be able to see a sphere bobbing up and down undergoing simple harmonic motion on the surface of the fluid (this is expected behaviour -as the harmonic motiorn is usually damped by the hydrodynamic forces. See the +as the harmonic motion is usually damped by the hydrodynamic forces. See the hydrodynamics tutorial for an example of how to use it). The key part of this is ```xml From f667c7e279672cee3b39b5b17fc4162ed20a5929 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org> Date: Wed, 6 Dec 2023 14:30:20 +0100 Subject: [PATCH 36/55] Tweaks MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero <caguero@openrobotics.org> --- .../my_lrauv/materials/scripts/model.material | 53 ------------------- .../underwater_vehicles/my_lrauv/model.sdf | 20 ------- tutorials/theory_buoyancy.md | 2 +- tutorials/theory_hydrodynamics.md | 2 +- 4 files changed, 2 insertions(+), 75 deletions(-) delete mode 100644 tutorials/files/underwater_vehicles/my_lrauv/materials/scripts/model.material diff --git a/tutorials/files/underwater_vehicles/my_lrauv/materials/scripts/model.material b/tutorials/files/underwater_vehicles/my_lrauv/materials/scripts/model.material deleted file mode 100644 index 03cd48472b..0000000000 --- a/tutorials/files/underwater_vehicles/my_lrauv/materials/scripts/model.material +++ /dev/null @@ -1,53 +0,0 @@ - -material UrbanTile/Tethys_Diffuse -{ - technique - { - pass - { - texture_unit - { - texture Tethys_Albedo.png - } - } - } - } -material UrbanTile/Tethys_Diffuse -{ - technique - { - pass - { - texture_unit - { - texture Tethys_Albedo.png - } - } - } - } -material UrbanTile/Tethys_Diffuse -{ - technique - { - pass - { - texture_unit - { - texture Tethys_Albedo.png - } - } - } - } -material UrbanTile/Tethys_Diffuse -{ - technique - { - pass - { - texture_unit - { - texture Tethys_Albedo.png - } - } - } - } \ No newline at end of file diff --git a/tutorials/files/underwater_vehicles/my_lrauv/model.sdf b/tutorials/files/underwater_vehicles/my_lrauv/model.sdf index 0cef4274e9..55d2e36b26 100644 --- a/tutorials/files/underwater_vehicles/my_lrauv/model.sdf +++ b/tutorials/files/underwater_vehicles/my_lrauv/model.sdf @@ -43,11 +43,6 @@ <roughness_map>materials/textures/Tethys_Roughness.png</roughness_map> </metal> </pbr> - <script> - <uri>materials/scripts/</uri> - <uri>materials/textures/</uri> - <name>tethys/Tethys_Diffuse</name> - </script> </material> </visual> </link> @@ -95,11 +90,6 @@ <roughness_map>materials/textures/Tethys_Roughness.png</roughness_map> </metal> </pbr> - <script> - <uri>materials/scripts/</uri> - <uri>materials/textures/</uri> - <name>tethys/Tethys_Diffuse</name> - </script> </material> </visual> </link> @@ -146,11 +136,6 @@ <roughness_map>materials/textures/Tethys_Roughness.png</roughness_map> </metal> </pbr> - <script> - <uri>materials/scripts/</uri> - <uri>materials/textures/</uri> - <name>tethys/Tethys_Diffuse</name> - </script> </material> </visual> </link> @@ -198,11 +183,6 @@ <roughness_map>materials/textures/Tethys_Roughness.png</roughness_map> </metal> </pbr> - <script> - <uri>materials/scripts/</uri> - <uri>materials/textures/</uri> - <name>tethys/Tethys_Diffuse</name> - </script> </material> </visual> </link> diff --git a/tutorials/theory_buoyancy.md b/tutorials/theory_buoyancy.md index 6e3c4c4687..31a0139c76 100644 --- a/tutorials/theory_buoyancy.md +++ b/tutorials/theory_buoyancy.md @@ -70,7 +70,7 @@ gz sim graded_buoyancy.sdf ``` You should be able to see a sphere bobbing up and down undergoing simple -harmonic motion on the surface of the fluid (this is expected behaviour +harmonic motion on the surface of the fluid (this is expected behavior as the harmonic motion is usually damped by the hydrodynamic forces. See the hydrodynamics tutorial for an example of how to use it). The key part of this is diff --git a/tutorials/theory_hydrodynamics.md b/tutorials/theory_hydrodynamics.md index 429897aed9..172d7052f5 100644 --- a/tutorials/theory_hydrodynamics.md +++ b/tutorials/theory_hydrodynamics.md @@ -8,7 +8,7 @@ understanding of its theory. # Understanding Hydrodynamic Forces -The behaviour of a moving body through water is different from the behaviour of +The behavior of a moving body through water is different from the behavior of a ground based vehicle. In particular bodies moving underwater experience much more forces derived from drag, buoyancy and lift. The way these forces act on a body can be seen in the following diagram: From c7c4b60489676e470a266b014ccda3c1da5a1fc5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org> Date: Wed, 6 Dec 2023 14:31:12 +0100 Subject: [PATCH 37/55] Update tutorials/lander.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Ian Chen <ichen@openrobotics.org> Signed-off-by: Carlos Agüero <cen.aguero@gmail.com> --- tutorials/lander.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/lander.md b/tutorials/lander.md index 5c4a9956fa..4e5875bd2a 100644 --- a/tutorials/lander.md +++ b/tutorials/lander.md @@ -85,7 +85,7 @@ We can now test it in Gazebo. Launch it with: gz sim ~/gazebo_maritime/models/my_lander/model.sdf ``` -You should visualize your model as a box. +You should see your model visualized as a box. @image html files/lander/simple_lander.png From c5f7502d0c352d45d0f5b0bfd24de6bed17849f0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org> Date: Wed, 6 Dec 2023 14:31:19 +0100 Subject: [PATCH 38/55] Update tutorials/lander.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Ian Chen <ichen@openrobotics.org> Signed-off-by: Carlos Agüero <cen.aguero@gmail.com> --- tutorials/lander.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/lander.md b/tutorials/lander.md index 4e5875bd2a..d2338b6031 100644 --- a/tutorials/lander.md +++ b/tutorials/lander.md @@ -335,7 +335,7 @@ for recommendations about how to tune its values. ### Drop weight A common feature in maritime landers is to include a drop weight device. When -this device is enabled, some part of the vehicle is dettached from the main +this device is enabled, some part of the vehicle is detached from the main chassis. At this point, the vehicle becomes positive buoyant, and starts moving up towards the water surface. From bac05194dc3ac7056db031d81b69fb408afceca4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org> Date: Wed, 6 Dec 2023 21:11:46 +0100 Subject: [PATCH 39/55] Adding a maritime surface vehicle tutorial. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero <caguero@openrobotics.org> --- tutorials.md.in | 5 +- .../src/gazebo_maritime/CMakeLists.txt | 69 + .../programs/GerstnerWaves_fs_330.glsl | 73 + .../programs/GerstnerWaves_vs_330.glsl | 148 + .../materials/textures/skybox_lowres.dds | Bin 0 -> 786560 bytes .../materials/textures/wave_normals.dds | Bin 0 -> 262271 bytes .../models/coast_waves/meshes/waterlow.dae | 361868 +++++++++++++++ .../models/coast_waves/model.config | 15 + .../models/coast_waves/model.sdf | 34 + .../models/wam-v/meshes/WAM-V-Base.dae | 20946 + .../models/wam-v/meshes/WamV.png | Bin 0 -> 1959532 bytes .../models/wam-v/meshes/engine.dae | 1148 + .../models/wam-v/meshes/propeller.dae | 789 + .../gazebo_maritime/models/wam-v/model.config | 15 + .../gazebo_maritime/models/wam-v/model.sdf | 347 + .../gazebo_maritime/src/PublisherPlugin.cc | 190 + .../gazebo_maritime/src/PublisherPlugin.hh | 92 + .../src/gazebo_maritime/src/Surface.cc | 313 + .../src/gazebo_maritime/src/Surface.hh | 165 + .../src/gazebo_maritime/src/WaveVisual.cc | 448 + .../src/gazebo_maritime/src/WaveVisual.hh | 66 + .../src/gazebo_maritime/src/Wavefield.cc | 888 + .../src/gazebo_maritime/src/Wavefield.hh | 337 + .../gazebo_maritime/worlds/sydney_regatta.sdf | 434 + .../files/surface_vehicles/sydney_regatta.png | Bin 0 -> 572873 bytes tutorials/files/surface_vehicles/wamv.png | Bin 0 -> 282702 bytes .../surface_vehicles/wamv_reference_frame.png | Bin 0 -> 386172 bytes tutorials/surface_vehicles.md | 362 + 28 files changed, 388751 insertions(+), 1 deletion(-) create mode 100644 tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/CMakeLists.txt create mode 100644 tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/materials/programs/GerstnerWaves_fs_330.glsl create mode 100644 tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/materials/programs/GerstnerWaves_vs_330.glsl create mode 100644 tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/materials/textures/skybox_lowres.dds create mode 100644 tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/materials/textures/wave_normals.dds create mode 100644 tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/meshes/waterlow.dae create mode 100644 tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/model.config create mode 100644 tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/model.sdf create mode 100644 tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/wam-v/meshes/WAM-V-Base.dae create mode 100644 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+++ b/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 diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/CMakeLists.txt b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/CMakeLists.txt new file mode 100644 index 0000000000..8fa058feed --- /dev/null +++ b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/CMakeLists.txt @@ -0,0 +1,69 @@ +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-fuel_tools9 REQUIRED) +find_package(gz-math7 REQUIRED) +set(GZ_MATH_VER ${gz-math7_VERSION_MAJOR}) +find_package(gz-msgs10 REQUIRED) +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 ${gz-utils2_VERSION_MAJOR}) +find_package(sdformat14 REQUIRED) +find_package(Eigen3 REQUIRED) + +# Waves +add_library(Waves SHARED + src/Wavefield.cc +) +target_link_libraries(Waves PUBLIC + gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-sim${GZ_SIM_VER}::core + gz-math${GZ_MATH_VER} + Eigen3::Eigen +) +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 + gz-sim${GZ_SIM_VER}::core + gz-plugin${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${GZ_SENSORS_VER} + gz-utils${GZ_UTILS_VER}::gz-utils${GZ_UTILS_VER} + Waves + Eigen3::Eigen + ) +endforeach() + +install( + TARGETS ${MARITIME_GZ_PLUGINS} + DESTINATION lib) + +#============================================================================ +# Resources +install(DIRECTORY + models + worlds + DESTINATION share/${PROJECT_NAME}) diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/materials/programs/GerstnerWaves_fs_330.glsl b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/materials/programs/GerstnerWaves_fs_330.glsl new file mode 100644 index 0000000000..37d31b9818 --- /dev/null +++ b/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); +} diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/materials/programs/GerstnerWaves_vs_330.glsl b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/materials/programs/GerstnerWaves_vs_330.glsl new file mode 100644 index 0000000000..91310f6065 --- /dev/null +++ b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/materials/programs/GerstnerWaves_vs_330.glsl @@ -0,0 +1,148 @@ +// 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.s + + +// Copyright (c) 2019 Rhys Mainwaring. +// +// Modified to accept vector parameters and use the form +// for Gerstner waves published in: +// +// Jerry Tessendorf, "Simulating Ocean Water", 1999-2004 +// +// theta = k * dir . x - omega * t +// +// px = x - dir.x * a * k * sin(theta) +// py = y - dir.y * a * k * sin(theta) +// pz = a * k * cos(theta) +// +// k is the wavenumber +// omega is the angular frequency +// +// The derivative terms (Tangent, Binormal, Normal) have been +// updated to be consistent with this convention. +// + +#version 330 + +in vec4 vertex; +in vec4 uv0; +uniform mat4 worldviewproj_matrix; + +/////////// Input parameters ////////// +// Waves +uniform int Nwaves; +uniform vec3 camera_position_object_space; +uniform float rescale; +uniform vec2 bumpScale; +uniform vec2 bumpSpeed; +uniform float t; +uniform vec3 amplitude; +uniform vec3 wavenumber; +uniform vec3 omega; +uniform vec3 steepness; +uniform vec2 dir0; +uniform vec2 dir1; +uniform vec2 dir2; +uniform float tau; + +/////////// Output variables to fragment shader ////////// +out block +{ + mat3 rotMatrix; + vec3 eyeVec; + vec2 bumpCoord; +} outVs; + +// Compute linear combination of Gerstner waves as described in +// GPU Gems, chapter 01: "Effective Water Simulation from Physical Models" +// http://http.developer.nvidia.com/GPUGems/gpugems_ch01.html + +// Information regarding a single wave +struct WaveParameters { + float k; // wavenumber + float a; // amplitude + float omega; // phase constant of speed + vec2 d; // horizontal direction of wave + float q; // steepness for Gerstner wave (q=0: rolling sine waves) +}; + + + +out gl_PerVertex +{ + vec4 gl_Position; +}; + +void main() +{ + // Use combination of three waves. Values here are chosen rather arbitrarily. + // Other parameters might lead to better-looking waves. + + WaveParameters waves[3]; + + waves[0] = WaveParameters(wavenumber.x, amplitude.x, omega.x, dir0.xy, steepness.x); + waves[1] = WaveParameters(wavenumber.y, amplitude.y, omega.y, dir1.xy, steepness.y); + waves[2] = WaveParameters(wavenumber.z, amplitude.z, omega.z, dir2.xy, steepness.z); + + vec4 P = vertex; + + // Iteratively compute binormal, tangent, and normal vectors: + vec3 B = vec3(1.0, 0.0, 0.0); + vec3 T = vec3(0.0, 1.0, 0.0); + vec3 N = vec3(0.0, 0.0, 1.0); + + // Wave synthesis using linear combination of Gerstner waves + for(int i = 0; i < Nwaves; ++i) + { + // Evaluate wave equation: + float k = waves[i].k; + float a = waves[i].a * (1.0 - exp(-1.0*t/tau)); + float q = waves[i].q; + float dx = waves[i].d.x; + float dy = waves[i].d.y; + float theta = dot(waves[i].d, P.xy)*k - t*waves[i].omega; + float c = cos(theta); + float s = sin(theta); + + // Displacement of point due to wave (Eq. 9) + P.x -= q*a*dx*s; + P.y -= q*a*dx*s; + P.z += a*c; + + // Modify normals due to wave displacement (Eq. 10-12) + float ka = a*k; + float qkac = q*ka*c; + float kas = ka*s; + float dxy = dx*dy; + + B += vec3(-qkac*dx*dx, -qkac*dxy, -kas*dx); + T += vec3(-qkac*dxy, -qkac*dy*dy, -kas*dy); + N += vec3(dx*kas, dy*kas, -qkac); + } + + // Compute (Surf2World * Rescale) matrix + B = normalize(B)*rescale; + T = normalize(T)*rescale; + N = normalize(N); + outVs.rotMatrix = mat3(B, T, N); + + gl_Position = worldviewproj_matrix * P; + + // Compute texture coordinates for bump map + outVs.bumpCoord = uv0.xy*bumpScale + t*bumpSpeed; + + outVs.eyeVec = P.xyz - camera_position_object_space; // eye position in vertex space +} + diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/materials/textures/skybox_lowres.dds 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11322 114009 11322 3478 114010 3478 11323 114011 11323 11311 114012 11311 1059 114013 1059 10701 114014 10701 10701 114015 10701 3275 114016 3275 11319 114017 11319 11319 114018 11319 8316 114019 8316 11324 114020 11324 11324 114021 11324 3476 114022 3476 11311 114023 11311 11325 114024 11325 774 114025 774 11293 114026 11293 11293 114027 11293 3474 114028 3474 11326 114029 11326 11326 114030 11326 8317 114031 8317 11327 114032 11327 11327 114033 11327 3461 114034 3461 11325 114035 11325 11302 114036 11302 1111 114037 1111 11328 114038 11328 11328 114039 11328 3479 114040 3479 11329 114041 11329 11329 114042 11329 8317 114043 8317 11326 114044 11326 11326 114045 11326 3474 114046 3474 11302 114047 11302 11330 114048 11330 2414 114049 2414 11323 114050 11323 11323 114051 11323 3478 114052 3478 11331 114053 11331 11331 114054 11331 8317 114055 8317 11329 114056 11329 11329 114057 11329 3479 114058 3479 11330 114059 11330 11321 114060 11321 1109 114061 1109 11332 114062 11332 11332 114063 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114118 3479 11328 114119 11328 11337 114120 11337 14 114121 14 11338 114122 11338 11338 114123 11338 3481 114124 3481 11339 114125 11339 11339 114126 11339 8319 114127 8319 11340 114128 11340 11340 114129 11340 3480 114130 3480 11337 114131 11337 11341 114132 11341 1113 114133 1113 11342 114134 11342 11342 114135 11342 3482 114136 3482 11343 114137 11343 11343 114138 11343 8319 114139 8319 11339 114140 11339 11339 114141 11339 3481 114142 3481 11341 114143 11341 11344 114144 11344 2415 114145 2415 11345 114146 11345 11345 114147 11345 3483 114148 3483 11346 114149 11346 11346 114150 11346 8319 114151 8319 11343 114152 11343 11343 114153 11343 3482 114154 3482 11344 114155 11344 11347 114156 11347 1112 114157 1112 11348 114158 11348 11348 114159 11348 3480 114160 3480 11340 114161 11340 11340 114162 11340 8319 114163 8319 11346 114164 11346 11346 114165 11346 3483 114166 3483 11347 114167 11347 11349 114168 11349 401 114169 401 11350 114170 11350 11350 114171 11350 3485 114172 3485 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21970 177204 21970 1946 177205 1946 21997 177206 21997 21997 177207 21997 6655 177208 6655 21998 177209 21998 21998 177210 21998 9885 177211 9885 21995 177212 21995 21995 177213 21995 6647 177214 6647 21970 177215 21970 21999 177216 21999 2822 177217 2822 21992 177218 21992 21992 177219 21992 6654 177220 6654 22000 177221 22000 22000 177222 22000 9885 177223 9885 21998 177224 21998 21998 177225 21998 6655 177226 6655 21999 177227 21999 21990 177228 21990 1941 177229 1941 21895 177230 21895 21895 177231 21895 6628 177232 6628 21996 177233 21996 21996 177234 21996 9885 177235 9885 22000 177236 22000 22000 177237 22000 6654 177238 6654 21990 177239 21990 21955 177240 21955 625 177241 625 21781 177242 21781 21781 177243 21781 6598 177244 6598 22001 177245 22001 22001 177246 22001 9886 177247 9886 22002 177248 22002 22002 177249 22002 6645 177250 6645 21955 177251 21955 21790 177252 21790 1932 177253 1932 21986 177254 21986 21986 177255 21986 6652 177256 6652 22003 177257 22003 22003 177258 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<end_time>3.333333</end_time> + </technique> + </extra> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#propeller"/> + </scene> +</COLLADA> diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/wam-v/model.config b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/wam-v/model.config new file mode 100644 index 0000000000..d82be9a947 --- /dev/null +++ b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/wam-v/model.config @@ -0,0 +1,15 @@ +<?xml version="1.0"?> +<model> + <name>wamv</name> + <version>1.0</version> + <sdf version="1.6">model.sdf</sdf> + + <author> + <name>Carlos Agüero</name> + <email>caguero@openrobotics.org</email> + </author> + + <description> + A WAM-V platform. + </description> +</model> diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/wam-v/model.sdf b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/wam-v/model.sdf new file mode 100644 index 0000000000..caeee1aa95 --- /dev/null +++ b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/wam-v/model.sdf @@ -0,0 +1,347 @@ +<?xml version="1.0"?> + +<sdf version='1.6'> +<!-- Basic model of the 16' WAM-V USV --> +<model name="wamv"> + <static>false</static> + <link name="base_link"> + <enable_wind>true</enable_wind> + <inertial> + <mass>180.0</mass> + <inertia> + <ixx>120.0</ixx> + <ixy>0.0</ixy> + <ixz>0.0</ixz> + <iyy>393</iyy> + <iyz>0.0</iyz> + <izz>446.0</izz> + </inertia> + </inertial> + + <visual name="base_visual"> + <geometry> + <mesh><uri>meshes/WAM-V-Base.dae</uri></mesh> + </geometry> + </visual> + + <!-- Top base --> + <collision name="top_base"> + <pose>0 -0 1.25 0 0 0</pose> + <geometry> + <box><size>1.85 1 0.1" </size></box> + </geometry> + </collision> + + <!-- left base --> + <collision name="left_float"> + <pose>-0.4 1.03 0.2 0 1.57 0 </pose> + <geometry> + <cylinder><length>4</length><radius>0.2</radius></cylinder> + </geometry> + </collision> + <collision name="left_mid_float"> + <pose>1.85 1.03 0.3 0 1.38 0</pose> + <geometry> + <cylinder><length>0.5</length><radius>0.17</radius></cylinder> + </geometry> + </collision> + <collision name="left_front_float"> + <pose>2.3 1.03 0.4 0 1.3 0</pose> + <geometry> + <cylinder><length>0.45</length><radius>0.12</radius></cylinder> + </geometry> + </collision> + + <!-- right base --> + <collision name="right_float"> + <pose>-0.4 -1.03 0.2 0 1.57 0 </pose> + <geometry> + <cylinder><length>4</length><radius>0.2</radius></cylinder> + </geometry> + </collision> + <collision name="right_mid_float"> + <pose>1.85 -1.03 0.3 0 1.38 0</pose> + <geometry> + <cylinder><length>0.5</length><radius>0.17</radius></cylinder> + </geometry> + </collision> + <collision name="right_front_float"> + <pose>2.3 -1.03 0.4 0 1.3 0</pose> + <geometry> + <cylinder><length>0.45</length><radius>0.12</radius></cylinder> + </geometry> + </collision> + </link> + + <!-- left engine and thruster --> + <link name="left_engine_link"> + <pose>-2.373776 1.027135 0.318237 0 0 0</pose> + <visual name ="left_engine_visual"> + <geometry> + <mesh><uri>meshes/engine.dae</uri></mesh> + </geometry> + </visual> + <collision name="left_engine_vertical_axis_collision"> + <pose>-0.16 0 -0.24 0 0 0</pose> + <geometry> + <box><size>0.2 0.15 0.83</size></box> + </geometry> + </collision> + <collision name="left_engine_rear_end_collision"> + <pose>-0.34 0 0.12 0 0 0</pose> + <geometry> + <box><size>0.12 0.15 0.12</size></box> + </geometry> + </collision> + <inertial> + <mass>15.0</mass> + <inertia> + <ixx>0.889245</ixx> + <ixy>0.0</ixy> + <ixz>0.0</ixz> + <iyy>0.811125</iyy> + <iyz>0.0</iyz> + <izz>0.078125</izz> + </inertia> + </inertial> + </link> + <link name="left_propeller_link"> + <pose>-2.651932 1.027135 -0.191134 0 0 0</pose> + <visual name ="left_propeller_visual"> + <geometry> + <mesh><uri>meshes/propeller.dae</uri></mesh> + </geometry> + </visual> + <collision name="left_propeller_collision"> + <pose>-0.08 0 0 0 1.57 0</pose> + <geometry> + <cylinder><length>0.18</length><radius>0.24</radius></cylinder> + </geometry> + </collision> + <inertial> + <mass>0.5</mass> + <inertia> + <ixx>0.008545</ixx> + <ixy>0.0</ixy> + <ixz>0.0</ixz> + <iyy>0.008545</iyy> + <iyz>0.0</iyz> + <izz>0.0144</izz> + </inertia> + </inertial> + </link> + + <joint name="left_chasis_engine_joint" type="revolute"> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1.57079</lower> + <upper>1.57079</upper> + <effort>10</effort> + <velocity>10</velocity> + </limit> + </axis> + <parent>base_link</parent> + <child>left_engine_link</child> + </joint> + + <joint name="left_engine_propeller_joint" type="revolute"> + <axis> + <xyz>1 0 0</xyz> + <limit> + <effort>100</effort> + <velocity>100</velocity> + </limit> + <dynamics> + <friction>0.05</friction> + <damping>0.05</damping> + </dynamics> + </axis> + <parent>left_engine_link</parent> + <child>left_propeller_link</child> + </joint> + + <!-- right engine and thruster --> + <link name="right_engine_link"> + <pose>-2.373776 -1.027135 0.318237 0 0 0</pose> + <visual name ="right_engine_visual"> + <geometry> + <mesh><uri>meshes/engine.dae</uri></mesh> + </geometry> + </visual> + <collision name="right_engine_vertical_axis_collision"> + <pose>-0.16 0 -0.24 0 0 0</pose> + <geometry> + <box><size>0.2 0.15 0.83</size></box> + </geometry> + </collision> + <collision name="right_engine_rear_end_collision"> + <pose>-0.34 0 0.12 0 0 0</pose> + <geometry> + <box><size>0.12 0.15 0.12</size></box> + </geometry> + </collision> + <inertial> + <mass>15.0</mass> + <inertia> + <ixx>0.889245</ixx> + <ixy>0.0</ixy> + <ixz>0.0</ixz> + <iyy>0.811125</iyy> + <iyz>0.0</iyz> + <izz>0.078125</izz> + </inertia> + </inertial> + </link> + <link name="right_propeller_link"> + <pose>-2.651932 -1.027135 -0.191134 0 0 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<friction>0.05</friction> + <damping>0.05</damping> + </dynamics> + </axis> + <parent>right_engine_link</parent> + <child>right_propeller_link</child> + </joint> + + <!-- Uncomment to enable the left thruster --> + <plugin + filename="gz-sim-thruster-system" + name="gz::sim::systems::Thruster"> + <joint_name>left_engine_propeller_joint</joint_name> + <thrust_coefficient>0.004422</thrust_coefficient> + <fluid_density>1000</fluid_density> + <propeller_diameter>0.2</propeller_diameter> + <velocity_control>true</velocity_control> + </plugin> + + <plugin + filename="gz-sim-joint-position-controller-system" + name="gz::sim::systems::JointPositionController"> + <joint_name>left_chasis_engine_joint</joint_name> + <use_velocity_commands>true</use_velocity_commands> + <topic>/wamv/left/thruster/joint/cmd_pos</topic> + </plugin> + + <!-- Uncomment to enable the right thruster --> + <plugin + filename="gz-sim-thruster-system" + name="gz::sim::systems::Thruster"> + <joint_name>right_engine_propeller_joint</joint_name> + <thrust_coefficient>0.004422</thrust_coefficient> + <fluid_density>1000</fluid_density> + <propeller_diameter>0.2</propeller_diameter> + <velocity_control>true</velocity_control> + </plugin> + + <plugin + filename="gz-sim-joint-position-controller-system" + name="gz::sim::systems::JointPositionController"> + <joint_name>right_chasis_engine_joint</joint_name> + <use_velocity_commands>true</use_velocity_commands> + <topic>/wamv/right/thruster/joint/cmd_pos</topic> + </plugin> + + <!-- Uncomment to produce buoyancy on the left hull --> + <plugin + filename="libSurface.so" + name="maritime::Surface"> + <link_name>base_link</link_name> + <hull_length>4.9</hull_length> + <hull_width>2.4</hull_width> + <hull_radius>0.213</hull_radius> + <fluid_level>0</fluid_level> + <points> + <point>0.6 1.03 0</point> + <point>-1.4 1.03 0</point> + </points> + <wavefield> + <topic>/gazebo/wavefield/parameters</topic> + </wavefield> + </plugin> + + <!-- Uncomment to produce buoyancy on the right hull --> + <plugin + filename="libSurface.so" + name="maritime::Surface"> + <link_name>base_link</link_name> + <hull_length>4.9</hull_length> + <hull_width>2.4</hull_width> + <hull_radius>0.213</hull_radius> + <fluid_level>0</fluid_level> + <points> + <point>0.6 -1.03 0</point> + <point>-1.4 -1.03 0</point> + </points> + <wavefield> + <topic>/gazebo/wavefield/parameters</topic> + </wavefield> + </plugin> + + <!-- Uncomment to enable hydrodynamics --> + <plugin + filename="gz-sim-hydrodynamics-system" + name="gz::sim::systems::Hydrodynamics"> + <link_name>base_link</link_name> + <xDotU>0.0</xDotU> + <yDotV>0.0</yDotV> + <nDotR>0.0</nDotR> + <xU>-51.3</xU> + <xAbsU>-72.4</xAbsU> + <yV>-40.0</yV> + <yAbsV>0.0</yAbsV> + <zW>-500.0</zW> + <kP>-50.0</kP> + <mQ>-50.0</mQ> + <nR>-400.0</nR> + <nAbsR>0.0</nAbsR> + </plugin> + +</model> + +</sdf> diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/PublisherPlugin.cc b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/PublisherPlugin.cc new file mode 100644 index 0000000000..4ef907b3ea --- /dev/null +++ b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/PublisherPlugin.cc @@ -0,0 +1,190 @@ +/* + * Copyright (C) 2023 Open Source Robotics Foundation + * + * 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. + * + */ +#include <google/protobuf/message.h> + +#include <chrono> +#include <string> +#include <gz/common/Profiler.hh> +#include <gz/plugin/Register.hh> +#include <gz/transport/Node.hh> +#include <sdf/sdf.hh> + +#include "PublisherPlugin.hh" + +using namespace gz; +using namespace maritime; + +/// \brief Private PublisherPlugin data class. +class maritime::PublisherPlugin::Implementation +{ + /// \brief Class that holds necessary bits for each specified message. + public: struct MessageInfo + { + /// \brief Message type + std::string msgType; + + /// \brief Message topic + std::string topic; + + /// \brief Protobuf message parsed from the human-readable string specified + /// in the <message> element of the plugin's configuration. + transport::ProtoMsgPtr msgData; + + /// \brief Simulation time to start publishing messages (secs). + double at = 0; + + /// \brief Re-publish the message every seconds. + double every = 0; + + /// \brief Transport publisher. + transport::Node::Publisher pub; + }; + + /// \brief A transport node. + public: transport::Node node; + + /// \brief List of messages. + public: std::vector<MessageInfo> messages; +}; + +////////////////////////////////////////////////// +PublisherPlugin::PublisherPlugin() + : System(), dataPtr(utils::MakeUniqueImpl<Implementation>()) +{ +} + +////////////////////////////////////////////////// +void PublisherPlugin::Configure(const sim::Entity &_entity, + const std::shared_ptr<const sdf::Element> &_sdf, + sim::EntityComponentManager &_ecm, + sim::EventManager &/*_eventMgr*/) +{ + sdf::ElementPtr sdfClone = _sdf->Clone(); + + if (sdfClone->HasElement("message")) + { + for (auto messageElem = sdfClone->GetElement("message"); messageElem; + messageElem = messageElem->GetNextElement("message")) + { + Implementation::MessageInfo info; + + // Process the message type. + info.msgType = messageElem->Get<std::string>("type"); + if (info.msgType.empty()) + { + gzerr << "Message type cannot be empty\n"; + continue; + } + + // Process the topic name. + auto topic = messageElem->Get<std::string>("topic"); + info.topic = transport::TopicUtils::AsValidTopic(topic); + if (info.topic.empty()) + { + gzerr << "Invalid topic [" << topic << "]" << std::endl; + continue; + } + + // Process the <at> element. + if (messageElem->HasAttribute("at")) + { + info.at = messageElem->Get<double>("at"); + if (info.at < 0) + { + gzerr << "Invalid <at> [" << info.at << "]" << std::endl; + continue; + } + } + + // Process the <every> element. + if (messageElem->HasAttribute("every")) + { + info.every = messageElem->Get<double>("every"); + if (info.every < 0) + { + gzerr << "Invalid <every> [" << info.every << "]" << std::endl; + continue; + } + } + + const std::string msgStr = messageElem->Get<std::string>(); + info.msgData = msgs::Factory::New(info.msgType, msgStr); + if (info.msgData) + { + info.pub = this->dataPtr->node.Advertise( + info.topic, info.msgData->GetTypeName()); + if (info.pub.Valid()) + { + this->dataPtr->messages.push_back(std::move(info)); + } + else + { + gzerr << "Message publisher could not be created for topic [" + << info.topic << "] with message type [" << info.msgType + << "]" << std::endl; + } + } + else + { + gzerr << "Unable to create message of type [" << info.msgType + << "] with data [" << msgStr << "] when creating message" + << " publisher on topic " << info.topic << ".\n"; + } + } + } +} + +////////////////////////////////////////////////// +void PublisherPlugin::PreUpdate(const sim::UpdateInfo &_info, + sim::EntityComponentManager &_ecm) +{ + GZ_PROFILE("Publisher::PreUpdate"); + + if (_info.paused) + return; + + // Iterate through the messages and publish when needed. + auto iter = this->dataPtr->messages.begin(); + while (iter != this->dataPtr->messages.end()) + { + // Time to publish a new message. + if (std::chrono::duration<double>(_info.simTime).count() >= iter->at) + { + iter->pub.Publish(*iter->msgData); + + // Single message. + if (iter->every == 0) + iter = this->dataPtr->messages.erase(iter); + // Repeated message. + else + { + iter->at += iter->every; + ++iter; + } + } + else + ++iter; + } +} + +GZ_ADD_PLUGIN(PublisherPlugin, + sim::System, + PublisherPlugin::ISystemConfigure, + PublisherPlugin::ISystemPreUpdate) + +GZ_ADD_PLUGIN_ALIAS(maritime::PublisherPlugin, + "maritime::PublisherPlugin") diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/PublisherPlugin.hh b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/PublisherPlugin.hh new file mode 100644 index 0000000000..9318c5b1d0 --- /dev/null +++ b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/PublisherPlugin.hh @@ -0,0 +1,92 @@ +/* + * Copyright (C) 2023 Open Source Robotics Foundation + * + * 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. + * + */ + +#ifndef MARITIME_PUBLISHERPLUGIN_HH_ +#define MARITIME_PUBLISHERPLUGIN_HH_ + +#include <gz/sim/System.hh> +#include <gz/utils/ImplPtr.hh> +#include <sdf/sdf.hh> + +namespace maritime +{ + /// \brief A system to publish user specified messages at a given time. + /// It's also possible to publish the message repeatedly. + /// + /// ## Required system parameters + /// + /// * `<message>` is the tag containing the message information. + /// It's possible to specify multiple messages. + /// + /// * Required attributes: + /// - `<type>` is the message type (eg. `gz.msgs.Boolean`). + /// - `<topic>` is the topic name where the message will be published. + /// * Optional attributes: + /// - `<at>` Simulation time to start publishing the message (seconds). + /// Default value is to publish the message when simulation + /// starts. + /// - `<every>` Continue publishing the message after <every> seconds. + /// Default value is 0, which means only publish once. + /// * Value: String used to construct the protobuf message . This is + /// the human-readable representation of a protobuf message as used by + /// `gz topic` for publishing messages. + /// + /// ## Example + /// <plugin filename="libPublisherPlugin.so" name="maritime::PublisherPlugin"> + /// <message type="gz.msgs.Param" topic="/maritime/wavefield/parameters" + /// at="0.0" every="2.0"> + /// params { + /// key: "amplitude" + /// value { + /// type: DOUBLE + /// double_value: 0 + /// } + /// } + /// </message> + /// <message type="gz.msgs.StringMsg" topic="/foo" + /// at="5.0" every="1.0"> + /// data: "hello boat" + /// </message> + /// </plugin> + class PublisherPlugin + : public gz::sim::System, + public gz::sim::ISystemConfigure, + public gz::sim::ISystemPreUpdate + { + /// \brief Constructor. + public: PublisherPlugin(); + + /// \brief Destructor. + public: ~PublisherPlugin() override = default; + + // Documentation inherited. + public: void Configure(const gz::sim::Entity &_entity, + const std::shared_ptr<const sdf::Element> &_sdf, + gz::sim::EntityComponentManager &_ecm, + gz::sim::EventManager &_eventMgr) override; + + // Documentation inherited. + public: void PreUpdate( + const gz::sim::UpdateInfo &_info, + gz::sim::EntityComponentManager &_ecm) override; + + /// \brief Private data pointer. + GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr) + }; +} + +#endif diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/Surface.cc b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/Surface.cc new file mode 100644 index 0000000000..3185a8328f --- /dev/null +++ b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/Surface.cc @@ -0,0 +1,313 @@ +/* + * Copyright (C) 2022 Open Source Robotics Foundation + * + * 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. + * + */ +#include <gz/msgs/param.pb.h> +#include <chrono> +#include <mutex> +#include <string> +#include <gz/common/Profiler.hh> +#include <gz/math/Vector3.hh> +#include <gz/plugin/Register.hh> +#include <sdf/sdf.hh> + +#include "gz/sim/Link.hh" +#include "gz/sim/Model.hh" +#include "gz/sim/Util.hh" +#include "gz/sim/World.hh" +#include "gz/transport/Node.hh" + +#include "Surface.hh" +#include "Wavefield.hh" + +using namespace gz; +using namespace maritime; + +/// \brief Private Surface data class. +class maritime::Surface::Implementation +{ + /// \brief Parse the points via SDF. + /// \param[in] _sdf Pointer to the SDF. + public: void ParsePoints(const std::shared_ptr<const sdf::Element> &_sdf); + + /// \brief Callback for receiving wave field updates. + /// \param[in] _msg The message containing all the wave field parameters. + public: void OnWavefield(const msgs::Param &_msg); + + /// \brief The link entity. + public: sim::Link link{sim::kNullEntity}; + + /// \brief Vessel length [m]. + public: double hullLength = 4.9; + + /// \brief Demi-hull radius [m]. + public: double hullRadius = 0.213; + + /// \brief Fluid height [m]. + public: double fluidLevel = 0; + + /// \brief Fluid density [kg/m^3]. + public: double fluidDensity = 997.7735; + + /// \brief The world's gravity [m/s^2]. + public: math::Vector3d gravity; + + /// \brief The points where the plugin applies forces. These points are + /// relative to the link paramter's origin. Note that we don't check that the + /// points are contained within the hull. You should pass reasonable points. + public: std::vector<math::Vector3d> points; + + /// \brief The wavefield. + public: Wavefield wavefield; + + /// \brief A node for receiving wavefield updates. + public: transport::Node node; + + /// \brief Mutex to protect the wavefield. + public: std::mutex mutex; +}; + +////////////////////////////////////////////////// +void Surface::Implementation::ParsePoints( + const std::shared_ptr<const sdf::Element> &_sdf) +{ + if (!_sdf->HasElement("points")) + return; + + auto ptr = const_cast<sdf::Element *>(_sdf.get()); + auto sdfPoints = ptr->GetElement("points"); + + // We need at least one point. + if (!sdfPoints->HasElement("point")) + gzerr << "Unable to find <points><point> element in SDF." << std::endl; + + auto pointElem = sdfPoints->GetElement("point"); + + // Parse a new point. + while (pointElem) + { + math::Vector3d point; + pointElem->GetValue()->Get<math::Vector3d>(point); + this->points.push_back(point); + + // Parse the next point. + pointElem = pointElem->GetNextElement("point"); + } +} + +////////////////////////////////////////////////// +void Surface::Implementation::OnWavefield(const msgs::Param &_msg) +{ + std::lock_guard<std::mutex> lock(this->mutex); + this->wavefield.Load(_msg); +} + +////////////////////////////////////////////////// +Surface::Surface() + : System(), dataPtr(utils::MakeUniqueImpl<Implementation>()) +{ +} + +////////////////////////////////////////////////// +void Surface::Configure(const sim::Entity &_entity, + const std::shared_ptr<const sdf::Element> &_sdf, + sim::EntityComponentManager &_ecm, + sim::EventManager &/*_eventMgr*/) +{ + // Parse required elements. + if (!_sdf->HasElement("link_name")) + { + gzerr << "No <link_name> specified" << std::endl; + return; + } + + sim::Model model(_entity); + std::string linkName = _sdf->Get<std::string>("link_name"); + this->dataPtr->link = sim::Link(model.LinkByName(_ecm, linkName)); + if (!this->dataPtr->link.Valid(_ecm)) + { + gzerr << "Could not find link named [" << linkName + << "] in model" << std::endl; + return; + } + + // Optional parameters. + // Although some of these parameters are required in this plugin, a potential + // derived plugin might not need them. Make sure that the default values are + // reasonable. + if (_sdf->HasElement("hull_length")) + { + this->dataPtr->hullLength = _sdf->Get<double>("hull_length"); + } + + if (_sdf->HasElement("hull_radius")) + { + this->dataPtr->hullRadius = _sdf->Get<double>("hull_radius"); + } + + if (_sdf->HasElement("fluid_level")) + { + this->dataPtr->fluidLevel = _sdf->Get<double>("fluid_level"); + } + + if (_sdf->HasElement("fluid_density")) + { + this->dataPtr->fluidDensity = _sdf->Get<double>("fluid_density"); + } + + // Parse the optional <points> element. + this->dataPtr->ParsePoints(_sdf); + + // Get the gravity from the world. + auto worldEntity = sim::worldEntity(_ecm); + auto world = sim::World(worldEntity); + auto gravityOpt = world.Gravity(_ecm); + if (!gravityOpt) + { + gzerr << "Unable to get the gravity from the world" << std::endl; + return; + } + this->dataPtr->gravity = *gravityOpt; + + // Wavefield + this->dataPtr->wavefield.Load(_sdf); + + gzdbg << "Surface plugin successfully configured with the following " + << "parameters:" << std::endl; + gzdbg << " <link_name>: " << linkName << std::endl; + gzdbg << " <vehicle_length>: " << this->dataPtr->hullLength << std::endl; + gzdbg << " <hull_radius>: " << this->dataPtr->hullRadius << std::endl; + gzdbg << " <fluid_level>: " << this->dataPtr->fluidLevel << std::endl; + gzdbg << " <fluid_density>: " << this->dataPtr->fluidDensity << std::endl; + gzdbg << " <points>:" << std::endl; + for (const auto &p : this->dataPtr->points) + gzdbg << " [" << p << "]" << std::endl; + + // Subscribe to receive wavefield parameters. + this->dataPtr->node.Subscribe(this->dataPtr->wavefield.Topic(), + &Surface::Implementation::OnWavefield, this->dataPtr.get()); +} + +////////////////////////////////////////////////// +void Surface::PreUpdate(const sim::UpdateInfo &_info, + sim::EntityComponentManager &_ecm) +{ + GZ_PROFILE("Surface::PreUpdate"); + + if (_info.paused) + return; + + // Vehicle frame transform. + const auto kPose = this->dataPtr->link.WorldPose(_ecm); + if (!kPose) + { + gzerr << "Unable to get world pose from link [" + << this->dataPtr->link.Entity() << "]" << std::endl; + return; + } + const math::Vector3d kEuler = (*kPose).Rot().Euler(); + math::Quaternion vq(kEuler.X(), kEuler.Y(), kEuler.Z()); + + std::lock_guard<std::mutex> lock(this->dataPtr->mutex); + + for (auto const &bpnt : this->dataPtr->points) + { + // Transform from vessel to fluid/world frame. + const math::Vector3d kBpntW = vq * bpnt; + + // Vertical location of boat grid point in world frame. + const float kDdz = (*kPose).Pos().Z() + kBpntW.Z(); + + // World location of grid point. + math::Vector3d point; + point.X() = (*kPose).Pos().X() + kBpntW.X(); + point.Y() = (*kPose).Pos().Y() + kBpntW.Y(); + + // Compute the depth at the grid point. + double simTime = std::chrono::duration<double>(_info.simTime).count(); + double depth = this->dataPtr->wavefield.ComputeDepthSimply(point, simTime); + + // Vertical wave displacement. + double dz = depth + point.Z(); + + // Total z location of boat grid point relative to fluid surface. + double deltaZ = (this->dataPtr->fluidLevel + dz) - kDdz; + // Enforce only upward buoy force + deltaZ = std::max(deltaZ, 0.0); + deltaZ = std::min(deltaZ, this->dataPtr->hullRadius); + + const float kBuoyForce = + this->CircleSegment(this->dataPtr->hullRadius, deltaZ) * + this->dataPtr->hullLength / this->dataPtr->points.size() * + -this->dataPtr->gravity.Z() * this->dataPtr->fluidDensity; + + // Apply force at the point. + // Position is in the link frame and force is in world frame. + this->dataPtr->link.AddWorldForce(_ecm, + math::Vector3d(0, 0, kBuoyForce), + bpnt); + + // Debug output: + // gzdbg << bpnt.X() << "," << bpnt.Y() << "," << bpnt.Z() << std::endl; + // gzdbg << "depth: " << depth << std::endl; + // gzdbg << "dz: " << dz << std::endl; + // gzdbg << "kDdz: " << kDdz << std::endl; + // gzdbg << "deltaZ: " << deltaZ << std::endl; + // gzdbg << "hull radius: " << this->dataPtr->hullRadius << std::endl; + // gzdbg << "vehicle length: " << this->dataPtr->hullLength << std::endl; + // gzdbg << "gravity z: " << -this->dataPtr->gravity.Z() << std::endl; + // gzdbg << "fluid density: " << this->dataPtr->fluidDensity << std::endl; + // gzdbg << "Force: " << kBuoyForce << std::endl << std::endl; + } +} + +////////////////////////////////////////////////// +math::Vector3d Surface::Gravity() const +{ + return this->dataPtr->gravity; +} + +////////////////////////////////////////////////// +double Surface::HullLength() const +{ + return this->dataPtr->hullLength; +} + +////////////////////////////////////////////////// +double Surface::HullRadius() const +{ + return this->dataPtr->hullRadius; +} + +////////////////////////////////////////////////// +double Surface::FluidDensity() const +{ + return this->dataPtr->fluidDensity; +} + +////////////////////////////////////////////////// +double Surface::CircleSegment(double _r, double _h) const +{ + return _r * _r * acos((_r -_h) / _r ) - + (_r - _h) * sqrt(2 * _r * _h - _h * _h); +} + +GZ_ADD_PLUGIN(Surface, + sim::System, + Surface::ISystemConfigure, + Surface::ISystemPreUpdate) + +GZ_ADD_PLUGIN_ALIAS(maritime::Surface, + "maritime::Surface") diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/Surface.hh b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/Surface.hh new file mode 100644 index 0000000000..4f26b0b972 --- /dev/null +++ b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/Surface.hh @@ -0,0 +1,165 @@ +/* + * Copyright (C) 2022 Open Source Robotics Foundation + * + * 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. + * + */ + +#ifndef MARITIME_SURFACE_HH_ +#define MARITIME_SURFACE_HH_ + +#include <gz/sim/System.hh> +#include <gz/math/Vector3.hh> +#include <gz/utils/ImplPtr.hh> +#include <sdf/sdf.hh> + +namespace maritime +{ + /// \brief A system that simulates the buoyancy of an object at the surface of + /// a fluid. This system must be attached to a model and the system will apply + /// buoyancy to a collection of points around a given link. + /// + /// This system models the vehicle's buoyancy assuming a single hull with a + /// cylindrical shape. It's possible to derive from this plugin and provide + /// your own buoyancy function at each point. For this purpose you + /// should override `BuoyancyAtPoint()` in the derived plugin. + /// + /// This plugin also supports waves. If you provide a wavefield via SDF, the + /// plugin will account for the delta Z that the waves generate at each point. + /// + /// ## Required system parameters + /// + /// * `<link_name>` is the name of the link used to apply forces. + /// + /// ## Optional system parameters + /// + /// * `<vehicle_length>` is the length of the vessel [m]. + /// * `<hull_radius>` is the radius of the vessel's hull [m]. + /// * `<fluid_level>` is the depth at which the fluid should be in the vehicle + /// * `<fluid_density>` is the density of the fluid. + /// * `<points>` contains a collection of points where the forces generated + /// by this plugin will be applied. See the format of each point + /// next: + /// * `<point><position>` Relative position of the point relative to + /// `link_name`. + /// * <wavefield>: The wavefield parameters. See `Wavefield.hh`. + /// + /// ## Example + /// <plugin + /// filename="gz-sim-surface-system" + /// name="gz::sim::systems::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> + + /// <!-- Points --> + /// <points> + /// <point> + /// <position>1.225 1.2 0</position> + /// </point> + /// <point> + /// <position>1.225 -1.2 0</position> + /// </point> + /// <point> + /// <position>-1.225 1.2 0</position> + /// </point> + /// <point> + /// <position>-1.225 -1.2 0</position> + /// </point> + /// </points> + + /// <!-- Waves --> + /// <wavefield> + /// <size><%= $wavefield_size%> <%= $wavefield_size%></size> + /// <cell_count><%= $wavefield_cell_count%> <%=$wavefield_cell_count%></cell_count> + /// <wave> + /// <model>PMS</model> + /// <period>5.0</period> + /// <number>3</number> + /// <scale>1.1</scale> + /// <gain>0.5</gain> + /// <direction>1 0</direction> + /// <angle>0.4</angle> + /// <tau>2.0</tau> + /// <amplitude>0.0</amplitude> + /// <steepness>0.0</steepness> + /// </wave> + /// </wavefield> + /// </plugin> + class Surface + : public gz::sim::System, + public gz::sim::ISystemConfigure, + public gz::sim::ISystemPreUpdate + { + /// \brief Constructor. + public: Surface(); + + /// \brief Destructor. + public: ~Surface() override = default; + + // Documentation inherited. + public: void Configure(const gz::sim::Entity &_entity, + const std::shared_ptr<const sdf::Element> &_sdf, + gz::sim::EntityComponentManager &_ecm, + gz::sim::EventManager &_eventMgr) override; + + // Documentation inherited. + public: void PreUpdate( + const gz::sim::UpdateInfo &_info, + gz::sim::EntityComponentManager &_ecm) override; + + /// \brief Get the gravity component. + /// \return Gravity vector. + public: gz::math::Vector3d Gravity() const; + + /// \brief Get the vehicle length. + /// \return Vechicle length in m. + public: double HullLength() const; + + /// \brief Get the hull radius. + /// \return The hull radius in m. + public: double HullRadius() const; + + /// \brief Get the fluid density. + /// \return The fluid density in kg/m^3. + public: double FluidDensity() const; + + /// \brief Compute the buoyancy generated at a point in the vehicle. + /// \param[in] _info Simulator information about the current timestep. + /// \param[in] _point The point. + /// \param[in] _deltaZ Total Z location of the point relative to fluid + /// surface. + /// \param[in] _ecm Ignition's ECM. + // public: virtual double BuoyancyAtPoint( + // const gz::sim::UpdateInfo &_info, + // const gz::math::Vector3d &_point, + // const uint16_t _pointsPerHull, + // double _deltaZ, + // gz::sim::EntityComponentManager &_ecm); + + /// \brief Convenience function for calculating the area of circle segment. + /// \param[in] _r Radius of circle. + /// \param[in] _h Height of the chord line. + /// \return The area. + /// \ref https://www.mathopenref.com/segmentareaht.html + public: double CircleSegment(double _r, + double _h) const; + + /// \brief Private data pointer. + GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr) + }; +} + +#endif diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/WaveVisual.cc b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/WaveVisual.cc new file mode 100644 index 0000000000..3afcb8ffbd --- /dev/null +++ b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/WaveVisual.cc @@ -0,0 +1,448 @@ +/* + * Copyright (C) 2022 Open Source Robotics Foundation + * + * 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. + * + */ + +#include <gz/msgs/param.pb.h> + +#include <chrono> +#include <list> +#include <mutex> +#include <string> + +#include <gz/common/Profiler.hh> +#include <gz/plugin/Register.hh> +#include <gz/rendering/Material.hh> +#include <gz/rendering/RenderingIface.hh> +#include <gz/rendering/Scene.hh> +#include <gz/rendering/ShaderParams.hh> +#include <gz/rendering/Visual.hh> +#include <gz/transport/Node.hh> + +#include <sdf/Element.hh> + +#include "gz/sim/components/Name.hh" +#include "gz/sim/components/SourceFilePath.hh" +#include "gz/sim/rendering/Events.hh" +#include "gz/sim/rendering/RenderUtil.hh" +#include "gz/sim/Util.hh" + +#include "Wavefield.hh" +#include "WaveVisual.hh" + +using namespace gz; +using namespace maritime; + +class maritime::WaveVisualPrivate +{ + /// \brief Path to vertex shader + public: std::string vertexShaderUri; + + /// \brief Path to fragment shader + public: std::string fragmentShaderUri; + + /// \brief Mutex to protect sim time updates. + public: std::mutex mutex; + + /// \brief Connection to pre-render event callback + public: common::ConnectionPtr connection{nullptr}; + + /// \brief Name of visual this plugin is attached to + public: std::string visualName; + + /// \brief Pointer to visual + public: rendering::VisualPtr visual; + + /// \brief Material used by this visual + public: rendering::MaterialPtr material; + + /// \brief Pointer to scene + public: rendering::ScenePtr scene; + + /// \brief Entity id of the visual + public: sim::Entity entity = sim::kNullEntity; + + /// \brief Current sim time + public: std::chrono::steady_clock::duration currentSimTime; + + /// \brief Path to model + public: std::string modelPath; + + /// \brief Wavefield for computing wave params + public: Wavefield wavefield; + + /// \brief Indicate whether the shader params have been set or not + public: bool paramsSet = false; + + /// \brief Shader param. Recale x and y components of normals. + public: float rescale = 0.5f; + + /// \brief Shader param. Bump map scale. + public: math::Vector2d bumpScale = math::Vector2d(25.0, 25.0); + + /// \brief Shader param. Bump map speed in x and y. + public: math::Vector2d bumpSpeed = math::Vector2d(0.01f, 0.01f); + + /// \brief Shader param. HDR multiplier. + public: float hdrMultiplier = 0.4f; + + /// \brief Shader param. Fresnel power. + public: float fresnelPower = 5.0f; + + /// \brief Shader param. Color of shallow water. + public: math::Color shallowColor = math::Color(0.0f, 0.1f, 0.3f, 1.0f); + + /// \brief Shader param. Color of deep water. + public: math::Color deepColor = math::Color(0.0f, 0.05f, 0.2f, 1.0f); + + /// \brief Transport node. + public: transport::Node node; + + /// \brief All rendering operations must happen within this call + public: void OnUpdate(); + + /// \brief Callback for receiving wave field updates. + /// \param[in] _msg The message containing all the wave field parameters. + public: void OnWavefield(const msgs::Param &_msg); +}; + +///////////////////////////////////////////////// +WaveVisual::WaveVisual() + : System(), dataPtr(std::make_unique<WaveVisualPrivate>()) +{ +} + +///////////////////////////////////////////////// +WaveVisual::~WaveVisual() +{ +} + +///////////////////////////////////////////////// +void WaveVisual::Configure(const sim::Entity &_entity, + const std::shared_ptr<const sdf::Element> &_sdf, + sim::EntityComponentManager &_ecm, + sim::EventManager &_eventMgr) +{ + GZ_PROFILE("WaveVisual::Configure"); + // Ugly, but needed because the sdf::Element::GetElement is not a const + // function and _sdf is a const shared pointer to a const sdf::Element. + auto sdf = const_cast<sdf::Element *>(_sdf.get()); + + if (!sdf->HasElement("wavefield")) + { + gzerr << "<wavefield> parameter is missing " << std::endl; + return; + } + if (!sdf->HasElement("shader")) + { + gzerr << "<shader> parameter is missing " << std::endl; + return; + } + + this->dataPtr->wavefield.Load(_sdf); + + if (this->dataPtr->modelPath.empty()) + { + auto modelEntity = topLevelModel(_entity, _ecm); + this->dataPtr->modelPath = + _ecm.ComponentData<sim::components::SourceFilePath>(modelEntity).value(); + } + + // parse path to shaders + sdf::ElementPtr shaderElem = sdf->GetElement("shader"); + if (!shaderElem->HasElement("vertex") || + !shaderElem->HasElement("fragment")) + { + gzerr << "<shader> must have <vertex> and <fragment> sdf elements" + << std::endl; + return; + } + else + { + sdf::ElementPtr vertexElem = shaderElem->GetElement("vertex"); + this->dataPtr->vertexShaderUri = common::findFile(sim::asFullPath( + vertexElem->Get<std::string>(), this->dataPtr->modelPath)); + sdf::ElementPtr fragmentElem = shaderElem->GetElement("fragment"); + this->dataPtr->fragmentShaderUri = common::findFile(sim::asFullPath( + fragmentElem->Get<std::string>(), this->dataPtr->modelPath)); + } + + // parse shader params + if (shaderElem->HasElement("parameters")) + { + sdf::ElementPtr paramElem = shaderElem->GetElement("parameters"); + if (paramElem->HasElement("rescale")) + { + this->dataPtr->rescale = paramElem->GetElement("rescale")->Get<float>(); + } + if (paramElem->HasElement("bumpScale")) + { + this->dataPtr->bumpScale = + paramElem->GetElement("bumpScale")->Get<math::Vector2d>(); + } + if (paramElem->HasElement("hdrMultiplier")) + { + this->dataPtr->hdrMultiplier = + paramElem->GetElement("hdrMultiplier")->Get<float>(); + } + if (paramElem->HasElement("fresnelPower")) + { + this->dataPtr->fresnelPower = + paramElem->GetElement("fresnelPower")->Get<float>(); + } + if (paramElem->HasElement("shallowColor")) + { + this->dataPtr->shallowColor = + paramElem->GetElement("shallowColor")->Get<math::Color>(); + } + if (paramElem->HasElement("deepColor")) + { + this->dataPtr->deepColor = + paramElem->GetElement("deepColor")->Get<math::Color>(); + } + } + + this->dataPtr->entity = _entity; + auto nameComp = _ecm.Component<sim::components::Name>(_entity); + this->dataPtr->visualName = nameComp->Data(); + + // connect to the SceneUpdate event + // the callback is executed in the rendering thread so do all + // rendering operations in that thread + this->dataPtr->connection = + _eventMgr.Connect<sim::events::SceneUpdate>( + std::bind(&WaveVisualPrivate::OnUpdate, this->dataPtr.get())); + + // Subscribe to receive the wavefield parameters. + this->dataPtr->node.Subscribe(this->dataPtr->wavefield.Topic(), + &WaveVisualPrivate::OnWavefield, this->dataPtr.get()); +} + +////////////////////////////////////////////////// +void WaveVisual::PreUpdate( + const sim::UpdateInfo &_info, + sim::EntityComponentManager &) +{ + GZ_PROFILE("WaveVisual::PreUpdate"); + std::lock_guard<std::mutex> lock(this->dataPtr->mutex); + this->dataPtr->currentSimTime = _info.simTime; +} + +////////////////////////////////////////////////// +void WaveVisualPrivate::OnUpdate() +{ + if (this->visualName.empty()) + return; + + if (!this->scene) + this->scene = rendering::sceneFromFirstRenderEngine(); + + if (!this->scene) + return; + + if (!this->visual) + { + // this does a breadth first search for visual with the entity id + // \todo(anyone) provide a helper function in RenderUtil to search for + // visual by entity id? + auto rootVis = scene->RootVisual(); + std::list<rendering::NodePtr> nodes; + nodes.push_back(rootVis); + while (!nodes.empty()) + { + auto n = nodes.front(); + nodes.pop_front(); + if (n && n->HasUserData("gazebo-entity")) + { + // RenderUti stores gazebo-entity user data as int + // \todo(anyone) Change this to uint64_t in Gazebo H? + auto variant = n->UserData("gazebo-entity"); + const uint64_t *value = std::get_if<uint64_t>(&variant); + if (value && *value == static_cast<uint64_t>(this->entity)) + { + this->visual = std::dynamic_pointer_cast<rendering::Visual>(n); + break; + } + } + for (unsigned int i = 0; i < n->ChildCount(); ++i) + nodes.push_back(n->ChildByIndex(i)); + } + } + + if (!this->visual) + return; + + // get the material and set shaders + if (!this->material) + { + auto mat = scene->CreateMaterial(); + mat->SetVertexShader(this->vertexShaderUri); + mat->SetFragmentShader(this->fragmentShaderUri); + this->visual->SetMaterial(mat); + scene->DestroyMaterial(mat); + this->material = this->visual->Material(); + } + + if (!this->material) + return; + + std::lock_guard<std::mutex> lock(this->mutex); + + // params that only need to be set once + if (!this->paramsSet) + { + auto vsParams = this->material->VertexShaderParams(); + + (*vsParams)["worldviewproj_matrix"] = 1; + + // bump map parameters + // rescale - scale x and y components of normals + (*vsParams)["rescale"] = this->rescale; + + // size of bump map + float bumpScaleV[2] = { + static_cast<float>(this->bumpScale.X()), + static_cast<float>(this->bumpScale.Y())}; + (*vsParams)["bumpScale"].InitializeBuffer(2); + (*vsParams)["bumpScale"].UpdateBuffer(bumpScaleV); + + // bump map speed in x and y + float bumpSpeedV[2] = { + static_cast<float>(this->bumpSpeed.X()), + static_cast<float>(this->bumpSpeed.Y())}; + (*vsParams)["bumpSpeed"].InitializeBuffer(2); + (*vsParams)["bumpSpeed"].UpdateBuffer(bumpSpeedV); + + // wavefield parameters: + (*vsParams)["Nwaves"] = static_cast<int>(this->wavefield.Number()); + float amplitudeV[3] = { + static_cast<float>(this->wavefield.Amplitude_V()[0]), + static_cast<float>(this->wavefield.Amplitude_V()[1]), + static_cast<float>(this->wavefield.Amplitude_V()[2])}; + (*vsParams)["amplitude"].InitializeBuffer(3); + (*vsParams)["amplitude"].UpdateBuffer(amplitudeV); + + float wavenumberV[3] = { + static_cast<float>(this->wavefield.Wavenumber_V()[0]), + static_cast<float>(this->wavefield.Wavenumber_V()[1]), + static_cast<float>(this->wavefield.Wavenumber_V()[2])}; + (*vsParams)["wavenumber"].InitializeBuffer(3); + (*vsParams)["wavenumber"].UpdateBuffer(wavenumberV); + + float omegaV[3] = { + static_cast<float>(this->wavefield.AngularFrequency_V()[0]), + static_cast<float>(this->wavefield.AngularFrequency_V()[1]), + static_cast<float>(this->wavefield.AngularFrequency_V()[2])}; + (*vsParams)["omega"].InitializeBuffer(3); + (*vsParams)["omega"].UpdateBuffer(omegaV); + + auto directions0 = this->wavefield.Direction_V()[0]; + float dir0[2] = { + static_cast<float>(directions0.X()), + static_cast<float>(directions0.Y())}; + (*vsParams)["dir0"].InitializeBuffer(2); + (*vsParams)["dir0"].UpdateBuffer(dir0); + + auto directions1 = this->wavefield.Direction_V()[1]; + float dir1[2] = { + static_cast<float>(directions1.X()), + static_cast<float>(directions1.Y())}; + (*vsParams)["dir1"].InitializeBuffer(2); + (*vsParams)["dir1"].UpdateBuffer(dir1); + + auto directions2 = this->wavefield.Direction_V()[2]; + float dir2[2] = { + static_cast<float>(directions2.X()), + static_cast<float>(directions2.Y())}; + (*vsParams)["dir2"].InitializeBuffer(2); + (*vsParams)["dir2"].UpdateBuffer(dir2); + + float steepnessV[3] = { + static_cast<float>(this->wavefield.Steepness_V()[0]), + static_cast<float>(this->wavefield.Steepness_V()[1]), + static_cast<float>(this->wavefield.Steepness_V()[2])}; + (*vsParams)["steepness"].InitializeBuffer(3); + (*vsParams)["steepness"].UpdateBuffer(steepnessV); + + float tau = this->wavefield.Tau(); + (*vsParams)["tau"] = tau; + + // camera_position_object_space is a constant defined by ogre. + (*vsParams)["camera_position_object_space"] = 1; + + // set fragment shader params + auto fsParams = this->material->FragmentShaderParams(); + + // HDR effect + (*fsParams)["hdrMultiplier"] = this->hdrMultiplier; + + // Fresnel power - refraction + (*fsParams)["fresnelPower"] = this->fresnelPower; + + // water color: + float shallowColorV[4] = { + static_cast<float>(this->shallowColor.R()), + static_cast<float>(this->shallowColor.G()), + static_cast<float>(this->shallowColor.B()), + static_cast<float>(this->shallowColor.A())}; + (*fsParams)["shallowColor"].InitializeBuffer(4); + (*fsParams)["shallowColor"].UpdateBuffer(shallowColorV); + + float deepColorV[4] = { + static_cast<float>(this->deepColor.R()), + static_cast<float>(this->deepColor.G()), + static_cast<float>(this->deepColor.B()), + static_cast<float>(this->deepColor.A())}; + (*fsParams)["deepColor"].InitializeBuffer(4); + (*fsParams)["deepColor"].UpdateBuffer(deepColorV); + + // \todo(anyone) find a more generic way of getting path to the textures + // than using hard coded material paths + std::string bumpMapPath = common::findFile( + sim::asFullPath("materials/textures/wave_normals.dds", + this->modelPath)); + (*fsParams)["bumpMap"].SetTexture(bumpMapPath, + rendering::ShaderParam::ParamType::PARAM_TEXTURE); + + std::string cubeMapPath = common::findFile( + sim::asFullPath("materials/textures/skybox_lowres.dds", this->modelPath)); + (*fsParams)["cubeMap"].SetTexture(cubeMapPath, + rendering::ShaderParam::ParamType::PARAM_TEXTURE_CUBE, 1u); + this->paramsSet = true; + } + + // time variables need to be updated every iteration + { + float floatValue = (std::chrono::duration_cast<std::chrono::nanoseconds>( + this->currentSimTime).count()) * 1e-9; + rendering::ShaderParamsPtr params; + params = this->material->VertexShaderParams(); + (*params)["t"] = floatValue; + } +} + +////////////////////////////////////////////////// +void WaveVisualPrivate::OnWavefield(const msgs::Param &_msg) +{ + std::lock_guard<std::mutex> lock(this->mutex); + this->wavefield.Load(_msg); +} + +GZ_ADD_PLUGIN(maritime::WaveVisual, + sim::System, + WaveVisual::ISystemConfigure, + WaveVisual::ISystemPreUpdate) + +GZ_ADD_PLUGIN_ALIAS(WaveVisual, "maritime::WaveVisual") diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/WaveVisual.hh b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/WaveVisual.hh new file mode 100644 index 0000000000..de010d9d81 --- /dev/null +++ b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/WaveVisual.hh @@ -0,0 +1,66 @@ +/* + * Copyright (C) 2022 Open Source Robotics Foundation + * + * 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. + * +*/ + +#ifndef MARITIME_WAVEVISUAL_HH_ +#define MARITIME_WAVEVISUAL_HH_ + +#include <memory> + +#include "gz/sim/System.hh" + +namespace maritime +{ + // Forward declaration + class WaveVisualPrivate; + + /// \brief A plugin for setting shaders to a visual and its params + /// + /// Plugin parameters: + /// + /// <shader> + /// <vertex> Path to wave vertex program + /// <fragment> Path to wave fragment program + /// <wavefield> Wavefield parameters - see Wavefield.hh + /// + class WaveVisual + : public gz::sim::System, + public gz::sim::ISystemConfigure, + public gz::sim::ISystemPreUpdate + { + /// \brief Constructor + public: WaveVisual(); + + /// \brief Destructor + public: ~WaveVisual() override; + + // Documentation inherited + public: void Configure(const gz::sim::Entity &_entity, + const std::shared_ptr<const sdf::Element> &_sdf, + gz::sim::EntityComponentManager &_ecm, + gz::sim::EventManager &_eventMgr) final; + + /// Documentation inherited + public: void PreUpdate( + const gz::sim::UpdateInfo &_info, + gz::sim::EntityComponentManager &_ecm) override; + + /// \brief Private data pointer + private: std::unique_ptr<WaveVisualPrivate> dataPtr; + }; +} + +#endif diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/Wavefield.cc b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/Wavefield.cc new file mode 100644 index 0000000000..d77d21cbf5 --- /dev/null +++ b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/Wavefield.cc @@ -0,0 +1,888 @@ +/* + * Copyright (C) 2019 Rhys Mainwaring + * + * 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. + * +*/ + +#include <gz/msgs/any.pb.h> +#include <gz/msgs/param.pb.h> + +#include <cmath> +#include <iostream> +#include <string> + +#include <Eigen/Dense> +#include <gz/common/Console.hh> +#include <gz/math/Pose3.hh> +#include <gz/math/Vector2.hh> +#include <gz/math/Vector3.hh> + +#include "Wavefield.hh" + +using namespace gz; +using namespace maritime; + +/////////////////////////////////////////////////////////////////////////////// +// Utilities +std::ostream& operator<<(std::ostream &_os, const std::vector<double> &_vec) +{ + for (auto&& v : _vec ) // NOLINT + _os << v << ", "; + return _os; +} + +/////////////////////////////////////////////////////////////////////////////// +/// \brief Private data for the WavefieldParameters. +class maritime::WavefieldPrivate +{ + /// \brief Constructor. + public: WavefieldPrivate(): + size({6000, 6000}), + cellCount({300, 300}), + model("PMS"), + number(3), + scale(1.1), + angle(0.4), + steepness(0.0), + amplitude(0.0), + period(5.0), + phase(0.0), + direction(0.0), + angularFrequency(2.0*M_PI), + wavelength(2 * M_PI / this->DeepWaterDispersionToWavenumber(2.0 * M_PI)), + wavenumber(this->DeepWaterDispersionToWavenumber(2.0 * M_PI)), + tau(2.0), + gain(1.0) + { + } + + /// \brief Populate a msg::Param with the current wavefield parameters. + public: void FillParameters(); + + /// \brief Recalculate for constant wavelength-amplitude ratio. + public: void RecalculateCwr(); + + /// \brief Recalculate for Pierson-Moskowitz spectrum sampling model. + public: void RecalculatePms(); + + /// \brief Recalculate all derived quantities from inputs. + public: void Recalculate(); + + /// \brief Helper function. + public: double DeepWaterDispersionToOmega(double _wavenumber) const; + + /// \brief Helper function. + public: double DeepWaterDispersionToWavenumber(double _omega) const; + + /// \brief Pierson-Moskowitz wave spectrum. + public: double Pm(double _omega, double _omegaP) const; + + /// \brief The size of the wavefield. + public: math::Vector2d size; + + /// \brief The number of grid cells in the wavefield. + public: math::Vector2d cellCount; + + /// \brief Name of wavefield model to use - must be "PMS" or "CWR" + public: std::string model; + + /// \brief The number of component waves. + public: size_t number; + + /// \brief Set the scale of the largest and smallest waves. + public: double scale; + + /// \brief Set the angle between component waves and the mean direction. + public: double angle; + + /// \brief Control the wave steepness. 0 is sine waves, 1 is Gerstner waves. + public: double steepness; + + /// \brief The mean wave amplitude [m]. + public: double amplitude; + + /// \brief The mean wave period [s] + public: double period; + + /// \brief The mean wave phase (not currently enabled). + public: double phase; + + /// \brief The mean wave direction. + public: double direction; + + /// \brief The time constant for exponential increasing waves on startup + public: double tau; + + /// \brief The multiplier applied to PM spectra + public: double gain; + + /// \brief The mean wave angular frequency (derived). + public: double angularFrequency; + + /// \brief The mean wavelength (derived). + public: double wavelength; + + /// \brief The mean wavenumber (derived). + public: double wavenumber; + + /// \brief The component wave angular frequencies (derived). + public: std::vector<double> angularFrequencies; + + /// \brief The component wave amplitudes (derived). + public: std::vector<double> amplitudes; + + /// \brief The component wave phases (derived). + public: std::vector<double> phases; + + /// \brief The component wave steepness factors (derived). + public: std::vector<double> steepnesses; + + /// \brief The component wavenumbers (derived). + public: std::vector<double> wavenumbers; + + /// \brief The component wave dirctions (derived). + public: std::vector<math::Vector2d> directions; + + /// \brief True when waves are present. + public: bool active = false; + + /// \brief Topic to publish/receive wavefield updates. + public: std::string topic = "/wavefield/parameters"; + + /// \brief A msgs::Param containing all parameters. This is useful to + /// communicate all wavefield parameters via Transport. + public: msgs::Param params; +}; + +/////////////////////////////////////////////////////////////////////////////// +void WavefieldPrivate::RecalculateCwr() +{ + // Derived mean values + this->angularFrequency = 2.0 * M_PI / this->period; + this->wavenumber = \ + this->DeepWaterDispersionToWavenumber(this->angularFrequency); + this->wavelength = 2.0 * M_PI / this->wavenumber; + + // Update components + this->angularFrequencies.clear(); + this->amplitudes.clear(); + this->phases.clear(); + this->wavenumbers.clear(); + this->steepnesses.clear(); + this->directions.clear(); + + for (size_t i = 0; i < this->number; ++i) + { + const int n = i - this->number / 2; + const double scaleFactor = std::pow(this->scale, n); + const double a = scaleFactor * this->amplitude; + const double k = this->wavenumber / scaleFactor; + const double omega = this->DeepWaterDispersionToOmega(k); + const double phi = this->phase; + double q = 0.0; + if (!math::equal(a, 0.0)) + { + q = std::min(1.0, this->steepness / (a * k * this->number)); + } + + this->amplitudes.push_back(a); + this->angularFrequencies.push_back(omega); + this->phases.push_back(phi); + this->steepnesses.push_back(q); + this->wavenumbers.push_back(k); + + // Direction + const double c = std::cos((n * this->angle) + this->direction); + const double s = std::sin((n * this->angle) + this->direction); + + const math::Vector2d d(c, s); + + directions.push_back(d); + } +} + +/////////////////////////////////////////////////////////////////////////////// +double WavefieldPrivate::Pm(double _omega, double _omegaP) const +{ + double alpha = 0.0081; + double g = 9.81; + return alpha * std::pow(g, 2.0) / std::pow(_omega, 5.0) * \ + std::exp(-(5.0 / 4.0) * std::pow(_omegaP / _omega, 4.0)); +} + +/////////////////////////////////////////////////////////////////////////////// +void WavefieldPrivate::RecalculatePms() +{ + // Derived mean values + this->angularFrequency = 2.0 * M_PI / this->period; + this->wavenumber = \ + this->DeepWaterDispersionToWavenumber(this->angularFrequency); + this->wavelength = 2.0 * M_PI / this->wavenumber; + + // Update components + this->angularFrequencies.clear(); + this->amplitudes.clear(); + this->phases.clear(); + this->wavenumbers.clear(); + this->steepnesses.clear(); + this->directions.clear(); + + // Vector for spaceing + std::vector<double> omegaSpacing; + omegaSpacing.push_back(this->angularFrequency * (1.0 - 1.0 / this->scale)); + omegaSpacing.push_back(this->angularFrequency * \ + (this->scale - 1.0 / this->scale) / 2.0); + omegaSpacing.push_back(this->angularFrequency * (this->scale - 1.0)); + + for (size_t i = 0; i < this->number; ++i) + { + const int n = i - 1; + const double scaleFactor = std::pow(this->scale, n); + const double omega = this->angularFrequency * scaleFactor; + const double pms = this->Pm(omega, this->angularFrequency); + const double a = this->gain * std::sqrt(2.0 * pms * omegaSpacing[i]); + const double k = this->DeepWaterDispersionToWavenumber(omega); + const double phi = this->phase; + double q = 0.0; + if (!math::equal(a, 0.0)) + { + q = std::min(1.0, this->steepness / (a * k * this->number)); + } + + this->amplitudes.push_back(a); + this->angularFrequencies.push_back(omega); + this->phases.push_back(phi); + this->steepnesses.push_back(q); + this->wavenumbers.push_back(k); + + // Direction + const double c = std::cos((n * this->angle) + this->direction); + const double s = std::sin((n * this->angle) + this->direction); + + const math::Vector2d d(c, s); + + directions.push_back(d); + } +} + +///////////////////////////////////////////////// +void WavefieldPrivate::Recalculate() +{ + if (!this->model.compare("PMS")) + { + this->RecalculatePms(); + } + else if (!this->model.compare("CWR")) + { + this->RecalculateCwr(); + } + else + { + gzwarn << "Wavefield model specified as <" << this->model + << "> which is not one of the two supported wavefield models: " + << "PMS or CWR!!!" << std::endl; + } +} + +///////////////////////////////////////////////// +double WavefieldPrivate::DeepWaterDispersionToOmega(double _wavenumber) + const +{ + const double g = std::fabs(-9.8); + return std::sqrt(g * _wavenumber); +} + +///////////////////////////////////////////////// +double WavefieldPrivate::DeepWaterDispersionToWavenumber(double _omega) + const +{ + const double g = std::fabs(-9.8); + return _omega * _omega / g; +} + +/////////////////////////////////////////////////////////////////////////////// +void WavefieldPrivate::FillParameters() +{ + this->params.mutable_params()->clear(); + auto *params = this->params.mutable_params(); + + // size. + gz::msgs::Any sizeValue; + sizeValue.set_type(gz::msgs::Any_ValueType::Any_ValueType_VECTOR3D); + sizeValue.mutable_vector3d_value()->set_x(this->size.X()); + sizeValue.mutable_vector3d_value()->set_y(this->size.Y()); + (*params)["size"] = sizeValue; + + // cell_count + gz::msgs::Any cellCountValue; + cellCountValue.set_type(gz::msgs::Any_ValueType::Any_ValueType_VECTOR3D); + cellCountValue.mutable_vector3d_value()->set_x(this->cellCount.X()); + cellCountValue.mutable_vector3d_value()->set_y(this->cellCount.Y()); + (*params)["cell_count"] = cellCountValue; + + // number + gz::msgs::Any numberValue; + numberValue.set_type(gz::msgs::Any_ValueType::Any_ValueType_INT32); + numberValue.set_int_value(this->number); + (*params)["number"] = numberValue; + + // scale + gz::msgs::Any scaleValue; + scaleValue.set_type(gz::msgs::Any_ValueType::Any_ValueType_DOUBLE); + scaleValue.set_double_value(this->scale); + (*params)["scale"] = scaleValue; + + // angle + gz::msgs::Any angleValue; + angleValue.set_type(gz::msgs::Any_ValueType::Any_ValueType_DOUBLE); + angleValue.set_double_value(this->angle); + (*params)["angle"] = angleValue; + + // steepness + gz::msgs::Any steepnessValue; + steepnessValue.set_type(gz::msgs::Any_ValueType::Any_ValueType_DOUBLE); + steepnessValue.set_double_value(this->steepness); + (*params)["steepness"] = steepnessValue; + + // amplitude + gz::msgs::Any amplitudeValue; + amplitudeValue.set_type(gz::msgs::Any_ValueType::Any_ValueType_DOUBLE); + amplitudeValue.set_double_value(this->amplitude); + (*params)["amplitude"] = amplitudeValue; + + // period + gz::msgs::Any periodValue; + periodValue.set_type(gz::msgs::Any_ValueType::Any_ValueType_DOUBLE); + periodValue.set_double_value(this->period); + (*params)["period"] = periodValue; + + // phase + gz::msgs::Any phaseValue; + phaseValue.set_type(gz::msgs::Any_ValueType::Any_ValueType_DOUBLE); + phaseValue.set_double_value(this->phase); + (*params)["phase"] = phaseValue; + + // direction. + gz::msgs::Any directionValue; + directionValue.set_type(gz::msgs::Any_ValueType::Any_ValueType_DOUBLE); + directionValue.set_double_value(this->direction); + (*params)["direction"] = directionValue; + + // model + gz::msgs::Any modelValue; + modelValue.set_type(gz::msgs::Any_ValueType::Any_ValueType_STRING); + modelValue.set_string_value(this->model); + (*params)["model"] = modelValue; + + // gain + gz::msgs::Any gainValue; + gainValue.set_type(gz::msgs::Any_ValueType::Any_ValueType_DOUBLE); + gainValue.set_double_value(this->gain); + (*params)["gain"] = gainValue; + + // tau + gz::msgs::Any tauValue; + tauValue.set_type(gz::msgs::Any_ValueType::Any_ValueType_DOUBLE); + tauValue.set_double_value(this->tau); + (*params)["tau"] = tauValue; +} + +///////////////////////////////////////////////////////////////////////////// +Wavefield::Wavefield() + : data(std::make_unique<WavefieldPrivate>()) +{ + this->data->Recalculate(); +} + +/////////////////////////////////////////////////////////////////////////////// +Wavefield::~Wavefield() +{ +} + +/////////////////////////////////////////////////////////////////////////////// +void Wavefield::Load(const std::shared_ptr<const sdf::Element> &_sdf) +{ + if (!_sdf->HasElement("wavefield")) + return; + + auto ptr = const_cast<sdf::Element *>(_sdf.get()); + auto sdfWavefield = ptr->GetElement("wavefield"); + + this->data->topic = sdfWavefield->Get<std::string>("topic", + this->data->topic).first; + this->data->size = sdfWavefield->Get<math::Vector2d>("size", + this->data->size).first; + this->data->cellCount = sdfWavefield->Get<math::Vector2d>("cell_count", + this->data->cellCount).first; + if (sdfWavefield->HasElement("wave")) + { + auto sdfWave = sdfWavefield->GetElement("wave"); + + this->data->model = sdfWave->Get<std::string>("model", "PMS").first; + this->data->number = + sdfWave->Get<double>("number", this->data->number).first; + this->data->amplitude = + sdfWave->Get<double>("amplitude", this->data->amplitude).first; + this->data->period = + sdfWave->Get<double>("period", this->data->period).first; + this->data->phase = sdfWave->Get<double>("phase", this->data->phase).first; + this->data->direction = + sdfWave->Get<double>("direction", this->data->direction).first; + this->data->scale = sdfWave->Get<double>("scale", this->data->scale).first; + this->data->angle = sdfWave->Get<double>("angle", this->data->angle).first; + this->data->steepness = + sdfWave->Get<double>("steepness", this->data->steepness).first; + this->data->tau = sdfWave->Get<double>("tau", this->data->tau).first; + this->data->gain = sdfWave->Get<double>("gain", this->data->gain).first; + + this->data->Recalculate(); + } + + this->data->FillParameters(); + this->DebugPrint(); + this->data->active = true; +} + +/////////////////////////////////////////////////////////////////////////////// +void Wavefield::Load(const msgs::Param &_msg) +{ + auto params = _msg.params(); + + if (params.count("size") > 0) + { + this->data->size = {params["size"].vector3d_value().x(), + params["size"].vector3d_value().y()}; + } + if (params.count("cell_count") > 0) + { + this->data->cellCount = {params["cell_count"].vector3d_value().x(), + params["cell_count"].vector3d_value().y()}; + } + if (params.count("number") > 0) + { + this->data->number = params["number"].int_value(); + } + if (params.count("scale") > 0) + { + this->data->scale = params["scale"].double_value(); + } + if (params.count("angle") > 0) + { + this->data->angle = params["angle"].double_value(); + } + if (params.count("steepness") > 0) + { + this->data->steepness = params["steepness"].double_value(); + } + if (params.count("amplitude") > 0) + { + this->data->amplitude = params["amplitude"].double_value(); + } + if (params.count("period") > 0) + { + this->data->period = params["period"].double_value(); + } + if (params.count("phase") > 0) + { + this->data->phase = params["phase"].double_value(); + } + if (params.count("direction") > 0) + { + this->data->direction = params["direction"].double_value(); + } + if (params.count("model") > 0) + { + this->data->model = params["model"].string_value(); + } + if (params.count("gain") > 0) + { + this->data->gain = params["gain"].double_value(); + } + if (params.count("tau") > 0) + { + this->data->tau = params["tau"].double_value(); + } + + this->data->FillParameters(); + this->data->Recalculate(); + this->data->active = true; +} + +/////////////////////////////////////////////////////////////////////////////// +std::string Wavefield::Topic() const +{ + return this->data->topic; +} + +/////////////////////////////////////////////////////////////////////////////// +bool Wavefield::Active() const +{ + return this->data->active; +} + +/////////////////////////////////////////////////////////////////////////////// +size_t Wavefield::Number() const +{ + return this->data->number; +} + +/////////////////////////////////////////////////////////////////////////////// +double Wavefield::Angle() const +{ + return this->data->angle; +} + +/////////////////////////////////////////////////////////////////////////////// +double Wavefield::Scale() const +{ + return this->data->scale; +} + +/////////////////////////////////////////////////////////////////////////////// +double Wavefield::Steepness() const +{ + return this->data->steepness; +} + +/////////////////////////////////////////////////////////////////////////////// +double Wavefield::AngularFrequency() const +{ + return this->data->angularFrequency; +} + +/////////////////////////////////////////////////////////////////////////////// +double Wavefield::Amplitude() const +{ + return this->data->amplitude; +} + +/////////////////////////////////////////////////////////////////////////////// +double Wavefield::Period() const +{ + return this->data->period; +} + +/////////////////////////////////////////////////////////////////////////////// +double Wavefield::Phase() const +{ + return this->data->phase; +} + +/////////////////////////////////////////////////////////////////////////////// +double Wavefield::Wavelength() const +{ + return this->data->wavelength; +} + +/////////////////////////////////////////////////////////////////////////////// +double Wavefield::Wavenumber() const +{ + return this->data->wavenumber; +} + +/////////////////////////////////////////////////////////////////////////////// +float Wavefield::Tau() const +{ + return this->data->tau; +} + +/////////////////////////////////////////////////////////////////////////////// +float Wavefield::Gain() const +{ + return this->data->gain; +} + +/////////////////////////////////////////////////////////////////////////////// +double Wavefield::Direction() const +{ + return this->data->direction; +} + +/////////////////////////////////////////////////////////////////////////////// +void Wavefield::SetNumber(size_t _number) +{ + this->data->number = _number; + this->data->Recalculate(); +} + +/////////////////////////////////////////////////////////////////////////////// +void Wavefield::SetAngle(double _angle) +{ + this->data->angle = _angle; + this->data->Recalculate(); +} + +/////////////////////////////////////////////////////////////////////////////// +void Wavefield::SetScale(double _scale) +{ + this->data->scale = _scale; + this->data->Recalculate(); +} + +/////////////////////////////////////////////////////////////////////////////// +void Wavefield::SetSteepness(double _steepness) +{ + this->data->steepness = _steepness; + this->data->Recalculate(); +} + +/////////////////////////////////////////////////////////////////////////////// +void Wavefield::SetAmplitude(double _amplitude) +{ + this->data->amplitude = _amplitude; + this->data->Recalculate(); +} + +/////////////////////////////////////////////////////////////////////////////// +void Wavefield::SetPeriod(double _period) +{ + this->data->period = _period; + this->data->Recalculate(); +} + +/////////////////////////////////////////////////////////////////////////////// +void Wavefield::SetPhase(double _phase) +{ + this->data->phase = _phase; + this->data->Recalculate(); +} + +/////////////////////////////////////////////////////////////////////////////// +void Wavefield::SetTau(double _tau) +{ + this->data->tau = _tau; +} + +/////////////////////////////////////////////////////////////////////////////// +void Wavefield::SetGain(double _gain) +{ + this->data->gain = _gain; +} + +/////////////////////////////////////////////////////////////////////////////// +void Wavefield::SetDirection(double _direction) +{ + this->data->direction = _direction; + this->data->Recalculate(); +} + +/////////////////////////////////////////////////////////////////////////////// +const std::vector<double> &Wavefield::AngularFrequency_V() const +{ + return this->data->angularFrequencies; +} + +/////////////////////////////////////////////////////////////////////////////// +const std::vector<double> &Wavefield::Amplitude_V() const +{ + return this->data->amplitudes; +} + +/////////////////////////////////////////////////////////////////////////////// +const std::vector<double> &Wavefield::Phase_V() const +{ + return this->data->phases; +} + +/////////////////////////////////////////////////////////////////////////////// +const std::vector<double> &Wavefield::Steepness_V() const +{ + return this->data->steepnesses; +} + +/////////////////////////////////////////////////////////////////////////////// +const std::vector<double> &Wavefield::Wavenumber_V() const +{ + return this->data->wavenumbers; +} + +/////////////////////////////////////////////////////////////////////////////// +const std::vector<math::Vector2d> &Wavefield::Direction_V() const +{ + return this->data->directions; +} + +/////////////////////////////////////////////////////////////////////////////// +void Wavefield::DebugPrint() const +{ + gzmsg << "Input Parameters:" << std::endl; + gzmsg << "model: " << this->data->model << std::endl; + gzmsg << "number: " << this->data->number << std::endl; + gzmsg << "scale: " << this->data->scale << std::endl; + gzmsg << "angle: " << this->data->angle << std::endl; + gzmsg << "steepness: " << this->data->steepness << std::endl; + gzmsg << "amplitude: " << this->data->amplitude << std::endl; + gzmsg << "period: " << this->data->period << std::endl; + gzmsg << "direction: " << this->data->direction << std::endl; + gzmsg << "tau: " << this->data->tau << std::endl; + gzmsg << "gain: " << this->data->gain << std::endl; + gzmsg << "Derived Parameters:" << std::endl; + gzmsg << "amplitudes: " << this->data->amplitudes << std::endl; + gzmsg << "wavenumbers: " << this->data->wavenumbers << std::endl; + gzmsg << "omegas: " << this->data->angularFrequencies << std::endl; + gzmsg << "periods: "; + for (auto&& omega : this->data->angularFrequencies) // NOLINT + { + gzmsg << 2.0 * M_PI / omega <<", "; + } + gzmsg << std::endl; + gzmsg << "phases: " << this->data->phases << std::endl; + gzmsg << "steepnesses: " << this->data->steepnesses << std::endl; + gzmsg << "directions: "; + for (auto&& d : this->data->directions) // NOLINT + { + gzmsg << d << "; "; + } + gzmsg << std::endl; +} + +/////////////////////////////////////////////////////////////////////////////// +double Wavefield::ComputeDepthSimply(const math::Vector3d &_point, + double _time, double _timeInit) +{ + double h = 0.0; + for (std::size_t i = 0; i < this->Number(); ++i) + { + double k = this->Wavenumber_V()[i]; + double a = this->Amplitude_V()[i]; + double dx = this->Direction_V()[i].X(); + double dy = this->Direction_V()[i].Y(); + double dot = _point.X() * dx + _point.Y() * dy; + double omega = this->AngularFrequency_V()[i]; + double theta = k * dot - omega * _time; + double c = cos(theta); + h += a*c; + } + + // Exponentially grow the waves + return h * (1 - exp(-1.0 * (_time - _timeInit) / this->Tau())); +} + +/////////////////////////////////////////////////////////////////////////////// +double Wavefield::ComputeDepthDirectly(const math::Vector3d &_point, + double _time, double _timeInit) +{ + // Struture for passing wave parameters to lambdas + struct WaveParams + { + WaveParams( + const std::vector<double>& _a, + const std::vector<double>& _k, + const std::vector<double>& _omega, + const std::vector<double>& _phi, + const std::vector<double>& _q, + const std::vector<math::Vector2d>& _dir) : + a(_a), k(_k), omega(_omega), phi(_phi), q(_q), dir(_dir) {} + + const std::vector<double>& a; + const std::vector<double>& k; + const std::vector<double>& omega; + const std::vector<double>& phi; + const std::vector<double>& q; + const std::vector<math::Vector2d>& dir; + }; + + // Compute the target function and Jacobian. Also calculate pz, + // the z-component of the Gerstner wave, which we essentially get for free. + // cppcheck-suppress constParameter + auto wave_fdf = [=](auto x, auto p, auto t, auto &wp, auto &F, auto &J) + { + double pz = 0; + F(0) = p.x() - x.x(); + F(1) = p.y() - x.y(); + J(0, 0) = -1; + J(0, 1) = 0; + J(1, 0) = 0; + J(1, 1) = -1; + const size_t n = wp.a.size(); + for (auto&& i = 0; i < n; ++i) // NOLINT + { + const double dx = wp.dir[i].X(); + const double dy = wp.dir[i].Y(); + const double q = wp.q[i]; + const double a = wp.a[i]; + const double k = wp.k[i]; + const double dot = x.x() * dx + x.y() * dy; + const double theta = k * dot - wp.omega[i] * t; + const double s = std::sin(theta); + const double c = std::cos(theta); + const double qakc = q * a * k * c; + const double df1x = qakc * dx * dx; + const double df1y = qakc * dx * dy; + const double df2x = df1y; + const double df2y = qakc * dy * dy; + pz += a * c; + F(0) += a * dx * s; + F(1) += a * dy * s; + J(0, 0) += df1x; + J(0, 1) += df1y; + J(1, 0) += df2x; + J(1, 1) += df2y; + } + // Exponentially grow the waves + return pz * (1 - exp(-1.0 * (_time - _timeInit) / this->Tau())); + }; + + // Simple multi-variate Newton solver - + // this version returns the z-component of the + // wave field at the desired point p. + // cppcheck-suppress constParameter + auto solver = [=](auto& fdfunc, auto x0, auto p, auto t, \ + auto& wp, auto tol, auto nmax) + { + int n = 0; + double err = 1; + double pz = 0; + auto xn = x0; + Eigen::Vector2d F; + Eigen::Matrix2d J; + while (std::abs(err) > tol && n < nmax) + { + pz = fdfunc(x0, p, t, wp, F, J); + xn = x0 - J.inverse() * F; + x0 = xn; + err = F.norm(); + n++; + } + return pz; + }; + + // Set up parameter references + WaveParams wp( + this->Amplitude_V(), + this->Wavenumber_V(), + this->AngularFrequency_V(), + this->Phase_V(), + this->Steepness_V(), + this->Direction_V()); + + // Tolerances etc. + const double tol = 1.0E-10; + const double nmax = 30; + + // Use the target point as the initial guess + // (this is within sum{amplitudes} of the solution) + Eigen::Vector2d p2(_point.X(), _point.Y()); + const double pz = solver(wave_fdf, p2, p2, _time, wp, tol, nmax); + // Removed so that height is reported relative to mean water level + // const double h = pz - _point.Z(); + const double h = pz; + return h; +} + +/////////////////////////////////////////////////////////////////////////////// +msgs::Param Wavefield::Parameters() const +{ + return this->data->params; +} diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/Wavefield.hh b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/Wavefield.hh new file mode 100644 index 0000000000..6f5720b76b --- /dev/null +++ b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/Wavefield.hh @@ -0,0 +1,337 @@ +/* + * Copyright (C) 2019 Rhys Mainwaring + * + * 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. + * +*/ + +#ifndef MARITIME_WAVEFIELD_HH_ +#define MARITIME_WAVEFIELD_HH_ + +#include <gz/msgs/param.pb.h> + +#include <memory> +#include <vector> + +#include <gz/sim/config.hh> +#include <gz/math/Vector2.hh> +#include <gz/math/Vector3.hh> +#include <sdf/sdf.hh> + +namespace maritime +{ + /// \brief Class to hold private data for Wavefield. + class WavefieldPrivate; + + /// \brief A class to generate a wave field. + /// This is a port from https://github.com/srmainwaring/asv_wave_sim + /// with some modifications. + /// + /// It uses SDF to parametrize the waves. + /// + /// ## Modes of operation: The class is designed to operate in two modes: + /// + /// 1. Primary: The plugin reads all the wavefield parameters from SDF. + /// 2. Secondary: The plugin subscribes to a topic and receives the wavefield + /// parameters via a message. + /// + /// Note that the top level plugins using this class are responsible for + /// publishing or subscribing to the wavefield topic. When configured in + /// primary mode, you should use from the top level plugin: + /// + /// Load(const std::shared_ptr<const sdf::Element> &_sdf) + /// + /// and: + /// + /// Parameters() + /// + /// to read the current set of parameters and periodically send the wavefield + /// parameters to other plugins configured in secondary mode. + /// + /// When configured in secondary mode, you should use from the top level + /// plugin: + /// + /// Load(const std::shared_ptr<const sdf::Element> &_sdf) + /// + /// and: + /// + /// Load(const msgs::Param &_msg) + /// + /// to parse the topic and subscribe to the wavefield parameter updates. + /// When the parameters are received, the call to the latter version of Load() + /// will update the wavefield parameters. + /// + /// + /// ## SDF parameters in primary mode: + /// + /// * `<topic>` (string, default: "/wavefield/parameters") + /// The topic for publishing wave field updates. + /// + /// * `<size>` (Vector2D, default: (6000 6000)) + /// A two component vector for the size of the wave field in each direction. + /// + /// * `<cell_count>` (int, default: (300 300)) + /// A two component vector for the number of grid cells in each direction. + /// + /// * `<number>` (int, default: 3) + /// The number of component waves. + /// + /// * `<scale>` (double, default: 1.1) + /// The scale between the mean and largest / smallest component waves. + /// + /// * `<angle>` (double, default: 0.4) + /// The angle between the mean wave direction and the + /// largest / smallest component waves. + /// + /// * `<steepness>` (double, default: 0.0) + /// A parameter in [0, 1] controlling the wave steepness with + /// 1 being steepest. + /// + /// * `<amplitude>` (double, default: 0.0) + /// The amplitude of the mean wave in [m]. This parameter is only used when + /// model is CWR. + /// + /// * `<period>` (double, default: 5.0) + /// The period of the mean wave in [s]. + /// + /// * `<phase>` (double, default: 0.0) + /// The phase of the mean wave. + /// + /// * `<direction>` (double, default: 0.0) + /// An angle defining mean wave direction (theta_m) + /// + /// * `<model>` (string, default: default) + /// The model used to generate component waves. + /// Should be either "PMS" or "CWR" + /// + /// * `<gain>` (double, default: 1.0) + /// For PMS, the multiplier applied to component amplitudes. + /// + /// * `<tau>` (double, default: 2.0) + /// Time constant used to gradually increase wavefield at startup. + /// + /// ## SDF parameters in secondary mode: + /// + /// * `<topic>` (string, default: "/wavefield/parameters") + /// The topic for receiving wave field updates. + /// + /// ## Example (primary mode) + /// <wavefield> + /// <size>1000 1000</size> + /// <cell_count>50 50</cell_count> + /// <wave> + /// <model>PMS</model> + /// <period>5</period> + /// <number>3</number> + /// <scale>1.5</scale> + /// <gain>0.1</gain> + /// <direction>0.0</direction> + /// <angle>0.4</angle> + /// <tau>2.0</tau> + /// <amplitude>0.0</amplitude> + /// <steepness>0.0</steepness> + /// </wave> + /// </wavefield> + /// + /// ## Example (secondary mode) + /// <wavefield> + /// <topic>/gazebo/wavefield/parameters</topic> + /// </wavefield> + class Wavefield + { + /// \brief Constructor. + public: Wavefield(); + + /// \brief Destructor. + public: virtual ~Wavefield(); + + /// \brief Set the parameters from an SDF Element tree. + /// + /// \param[in] _sdf The SDF Element tree containing the wavefield parameters + public: void Load(const std::shared_ptr<const sdf::Element> &_sdf); + + /// \brief Set the parameters from a message. + /// + /// \param[in] _msg The SDF Element tree containing the wavefield parameters + public: void Load(const gz::msgs::Param &_msg); + + /// \brief Is the wavefield loaded. + /// \return True when the wavefield has been loaded or false otherwise. + public: bool Active() const; + + /// \brief The wavefield topic to publish/receive updates. + /// \return The topic name. + public: std::string Topic() const; + + /// \brief The number of wave components (3 max if visualisation required). + public: size_t Number() const; + + /// \brief The angle between the mean wave direction and the + /// largest / smallest component waves. + public: double Angle() const; + + /// \brief The scale between the mean and largest / smallest + /// component waves. + public: double Scale() const; + + /// \brief A parameter in [0, 1] controlling the wave steepness + /// with 1 being steepest. + public: double Steepness() const; + + /// \brief The angular frequency + public: double AngularFrequency() const; + + /// \brief The amplitude of the mean wave in [m]. + public: double Amplitude() const; + + /// \brief The period of the mean wave in [s]. + public: double Period() const; + + /// \brief The phase of the mean wave. + public: double Phase() const; + + /// \brief The mean wavelength. + public: double Wavelength() const; + + /// \brief The mean wavenumber. + public: double Wavenumber() const; + + /// \brief Time-constant for starting waves. + public: float Tau() const; + + /// \brief Amplitude multiplier for PMS. + public: float Gain() const; + + /// \brief A double specifiying the mean wave direction. + public: double Direction() const; + + /// \brief Set the number of wave components (3 max). + /// + /// \param[in] _number The number of component waves. + public: void SetNumber(size_t _number); + + /// \brief Set the angle parameter controlling + /// the direction of the component waves. + /// + /// \param[in] _angle The angle parameter. + public: void SetAngle(double _angle); + + /// \brief Set the scale parameter controlling + /// the range of amplitudes of the component waves. + /// + /// \param[in] _scale The scale parameter. + public: void SetScale(double _scale); + + /// \brief Set the steepness parameter controlling + /// the steepness of the waves. In [0, 1]. + /// + /// \param[in] _steepness The steepness parameter. + public: void SetSteepness(double _steepness); + + /// \brief Set the mean wave amplitude. Must be positive. + /// + /// \param[in] _amplitude The amplitude parameter. + public: void SetAmplitude(double _amplitude); + + /// \brief Set the mean wave period. Must be positive. + /// + /// \param[in] _period The period parameter. + public: void SetPeriod(double _period); + + /// \brief Set the mean wave phase. + /// + /// \param[in] _phase The phase parameter. + public: void SetPhase(double _phase); + + /// \brief Set the time constant. + /// + /// \param[in] _tau The time constant. + public: void SetTau(double _tau); + + /// \brief Set the PMS amplitude multiplier + /// + /// \param[in] _gain The multiplier + public: void SetGain(double _gain); + + /// \brief Set the mean wave direction. + /// + /// \param[in] _direction The direction parameter, a double. + public: void SetDirection(double _direction); + + /// \brief Access the component angular frequencies. + public: const std::vector<double> &AngularFrequency_V() const; + + /// \brief Access the component amplitudes. + public: const std::vector<double> &Amplitude_V() const; + + /// \brief Access the component phases. + public: const std::vector<double> &Phase_V() const; + + /// \brief Access the steepness components. + public: const std::vector<double> &Steepness_V() const; + + /// \brief Access the component wavenumbers. + public: const std::vector<double> &Wavenumber_V() const; + + /// \brief Access the component directions. + public: const std::vector<gz::math::Vector2d> &Direction_V() const; + + /// \brief Print a summary of the wave parameters to the gzmsg stream. + public: void DebugPrint() const; + + /// A simpler version of determining wave height at a point. + /// This method enforces that q (steepness) = 0 which allows us + /// to caculate the wave height exactly for a given 2D point without the + /// need to interatively solve for the position/height. + /// \param[in] _point The point at which we want the depth. + /// \param[in] _time The time at which we want the depth. + /// \param[in] _timeInit The time at which we want the wavefield to start + /// \return The depth 'h' at the point. + public: double ComputeDepthSimply(const gz::math::Vector3d &_point, + double _time, + double _timeInit = 0); + + /// \brief Compute the depth at a point directly + /// (no sampling or interpolation). + /// + /// This method solves for (x, y) that when input into the + /// Gerstner wave function + /// gives the coordinates of the supplied parameter + /// _point (_point.x(), _point.y()), + /// and also computes the wave height pz at this point. + /// The depth h = pz - point.z(). + /// This is a numerical method that uses a multi-variate + /// Newton solver to solve + /// the two dimensional non-linear system. In general it is not as fast as + /// sampling from a discretised wave field with an efficient + /// line intersection algorithm. + /// + /// \param[in] _point The point at which we want the depth. + /// \param[in] _time The time at which we want the depth. + /// \param[in] _timeInit The time at which we want the wavefield to start + /// \return The depth 'h' at the point. + public: double ComputeDepthDirectly(const gz::math::Vector3d &_point, + double _time, + double _timeInit = 0); + + /// \brief Get all the parameters in a single message. + /// \return A message with all the parameters. + public: gz::msgs::Param Parameters() const; + + /// \internal + /// \brief Pointer to the class private data. + private: std::unique_ptr<WavefieldPrivate> data; + }; +} + +#endif diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/worlds/sydney_regatta.sdf b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/worlds/sydney_regatta.sdf new file mode 100644 index 0000000000..07d6a93a2a --- /dev/null +++ b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/worlds/sydney_regatta.sdf @@ -0,0 +1,434 @@ +<?xml version="1.0" ?> + +<sdf version="1.9"> + <world name="sydney_regatta"> + + <physics name="4ms" type="dart"> + <max_step_size>0.004</max_step_size> + <real_time_factor>1.0</real_time_factor> + </physics> + + <gui fullscreen="0"> + + <!-- 3D scene --> + <plugin filename="MinimalScene" name="3D View"> + <gz-gui> + <title>3D View + false + docked + + + ogre2 + scene + 0.4 0.4 0.4 + 0.8 0.8 0.8 + -478.1 148.2 13.2 0 0.25 2.94 + + 0.25 + 10000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + true + 4000000 + + + + false + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + false + + + + + + + + + + ogre2 + true + + + + + + + + + + + + + + + + + false + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + EARTH_WGS84 + ENU + -33.724223 + 150.679736 + 0.0 + 0.0 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 0.2 0 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta + + + + Coast Waves + 0 0 0 0 0 0 + coast_waves + + + + + post_0 + -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_1 + -527.48999 153.854782 0.425844 -0.1365 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + post_2 + -544.832825 156.671951 0.499025 -0.162625 0 0 + https://fuel.gazebosim.org/1.0/openrobotics/models/post + + + + + -531.063721 147.668579 1.59471 -0.068142 0 -0.1 + https://fuel.gazebosim.org/1.0/openrobotics/models/antenna + + + + + ground_station_0 + -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_1 + -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station + + + ground_station_2 + -534.550537 144.910400 1.720474 -0.004994 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