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Add tethys model with DVL sensor #9

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merged 9 commits into from
Sep 29, 2023
Merged

Add tethys model with DVL sensor #9

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b82a659
add tethys model containing various sensors
iche033 Sep 13, 2023
79bdbae
merge from main
iche033 Sep 21, 2023
e18db3c
add boundary and move tethys plugins to world file
iche033 Sep 21, 2023
d6c6e0b
update config
iche033 Sep 21, 2023
d67c182
Merge branch 'terrain_fix' into tethys_dvl
iche033 Sep 22, 2023
6a03341
update tethy's z pos
iche033 Sep 22, 2023
89ece79
merge from main
iche033 Sep 25, 2023
9457513
update buoyancy
iche033 Sep 27, 2023
d04ac82
Added mass demo with two spheres (#24)
quarkytale Sep 29, 2023
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8 changes: 8 additions & 0 deletions harmonic_demo/Spheres/model.config
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<?xml version="1.0"?>
<model>
<name>Spheres</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>


</model>
79 changes: 79 additions & 0 deletions harmonic_demo/Spheres/model.sdf
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<?xml version='1.0' ?>
<sdf version="1.6">
<model name="spheres">
<link name="sphere_no_added_mass">
<inertial>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="sphere_no_added_mass_collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>

<visual name="sphere_no_added_mass_visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>0 1 0 1</ambient>
<diffuse>0 1 0 1</diffuse>
<specular>0 1 0 1</specular>
</material>
</visual>
</link>

<link name="sphere_with_added_mass">
<pose relative_to="sphere_no_added_mass">0 -1 0 0 0 0</pose>
<inertial>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
<mass>1.0</mass>
<fluid_added_mass>
<xx>261.666</xx>
<yy>261.666</yy>
<zz>261.666</zz>
</fluid_added_mass>
</inertial>
<collision name="sphere_with_added_mass_collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>

<visual name="sphere_with_added_mass_visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>0 0 1 1</ambient>
<diffuse>0 0 1 1</diffuse>
<specular>0 0 1 1</specular>
</material>
</visual>
</link>

</model>
</sdf>
15 changes: 15 additions & 0 deletions harmonic_demo/Tethys Sensors/model.config
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<?xml version="1.0"?>
<model>
<name>Tethys Sensors</name>
<version>1.0</version>
<sdf version="1.9">model.sdf</sdf>

<author>
<name>Ian Chen</name>
<email>[email protected]</email>
</author>

<description>
3D model of MBARI LRAUV Tethys, with DV, IMU, and magnetometer sensors and plugins. Adapted from https://github.com/osrf/lrauv
</description>
</model>
205 changes: 205 additions & 0 deletions harmonic_demo/Tethys Sensors/model.sdf
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<?xml version="1.0"?>

<sdf version="1.9">
<model name="tethys">

<include merge="true">
<uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>

<!-- Sensors -->
<experimental:params>
<!--
Teledyne Pathfinder DVL

See https://www.manualslib.com/manual/1447288/Teledyne-Pathfinder.html
for further reference.
-->
<sensor
element_id="base_link" action="add"
name="teledyne_pathfinder_dvl"
type="custom" gz:type="dvl">
<!-- Account for DVL mounting position and base link rotation -->
<pose degrees="true">-0.60 0 -0.16 0 0 180</pose>
<always_on>1</always_on>
<update_rate>1</update_rate>
<topic>/tethys/dvl/velocity</topic>
<gz:dvl>
<type>phased_array</type>
<arrangement degrees="true">
<beam id="1">
<aperture>2.1</aperture>
<rotation>45</rotation>
<tilt>30</tilt>
</beam>
<beam>
<aperture>2.1</aperture>
<rotation>135</rotation>
<tilt>30</tilt>
</beam>
<beam>
<aperture>2.1</aperture>
<rotation>-45</rotation>
<tilt>30</tilt>
</beam>
<beam>
<aperture>2.1</aperture>
<rotation>-135</rotation>
<tilt>30</tilt>
</beam>
</arrangement>
<tracking>
<bottom_mode>
<when>best</when>
<noise type="gaussian">
<!-- +/- 0.4 cm/s precision at 10 m/s within 2 stddevs -->
<stddev>0.002</stddev>
</noise>
<visualize>false</visualize>
</bottom_mode>
<!-- Uncomment to enable water_mass_mode.
Requires Environment-Preload plugin -->
<!--
<water_mass_mode>
<when>best</when>
<water_velocity>
<x>eastward_sea_water_velocity_meter_per_sec</x>
<y>northward_sea_water_velocity_meter_per_sec</y>
</water_velocity>
<boundaries>
<near>20.</near>
<far>60.</far>
</boundaries>
<bins>10</bins>
<noise type="gaussian">
<stddev>0.0035</stddev>
</noise>
<visualize>false</visualize>
</water_mass_mode>
-->
</tracking>
<!-- Roughly 1 m resolution at a 100m -->
<resolution>0.01</resolution>
<!-- Approximate maximum range @ ~14.4v -->
<maximum_range>80.</maximum_range>
<minimum_range>0.1</minimum_range>
<!-- ENU to SFM -->
<reference_frame>0 0 0 0 0 -1.570796</reference_frame>
</gz:dvl>
</sensor>
<!--
Sparton AHRS-M2 arrangement of IMU + Magnetometer

See https://www.spartonnavex.com/product/ahrs-m2 for
AHRS specifications and additional documentation.
-->
<sensor
element_id="base_link"
action="add"
name="sparton_ahrs_m2_imu"
type="imu">
<!--IMU in a Sparton AHRS-M2 -->
<always_on>1</always_on>
<!-- Flip body frame to match FSK frame convention -->
<!--
Also account for model being rotated 180 degrees
See https://github.com/osrf/lrauv/issues/80.
-->
<pose degrees="true">0 0 0 180 0 180</pose>
<imu>
<orientation_reference_frame>
<localization>NED</localization>
</orientation_reference_frame>
<enable_orientation>1</enable_orientation>
<linear_acceleration>
<!--
Use zero-mean gaussian distributions for each
linear acceleration component and its (turn on)
bias.

Standard deviation is assumed to be the same for all
linear acceleration components. It is computed from
reported noise density ND = 250 ug/√Hz and chosen
sample rate SR = 10 Hz as ND √SR.

Standard deviation is assumed to be the same for all
linear acceleration component (turn on) biases. It is
made equal to the reported bias stability BS = 0.07441 mg.
-->
<x>
<noise type="gaussian">
<stddev>0.00775283755402256</stddev>
<bias_stddev>0.007297128265</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<stddev>0.00775283755402256</stddev>
<bias_stddev>0.007297128265</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<stddev>0.00775283755402256</stddev>
<bias_stddev>0.007297128265</bias_stddev>
</noise>
</z>
</linear_acceleration>
<angular_velocity>
<!--
Use zero-mean gaussian distributions for each
angular velocity component and its (turn on)
bias.

Standard deviation is assumed to be the same for all
angular velocity components. It is computed from
reported noise density ND = 0.04 °/s/√Hz and chosen
sample rate SR = 10 Hz as ND √SR.

Standard deviation is assumed to be the same for all
angular velocity component (turn on) biases. It is made
equal to the reported bias stability BS = 6.415 °/hr.
-->
<x>
<noise type="gaussian">
<stddev>0.0022076862812880228</stddev>
<bias_stddev>0.0017819444444444445</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<stddev>0.0022076862812880228</stddev>
<bias_stddev>0.0017819444444444445</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<stddev>0.0022076862812880228</stddev>
<bias_stddev>0.0017819444444444445</bias_stddev>
</noise>
</z>
</angular_velocity>
</imu>
<update_rate>10</update_rate>
<topic>/tethys/ahrs/imu</topic>
</sensor>
<!--Magnetometer in a Sparton AHRS-M2 -->
<sensor
element_id="base_link"
action="add"
name="sparton_ahrs_m2_magnetometer"
type="magnetometer">
<always_on>1</always_on>
<update_rate>10</update_rate>
<!-- Flip body frame to match FSK frame convention -->
<!--
Also account for model being rotated 180 degrees
See https://github.com/osrf/lrauv/issues/80.
-->
<pose degrees="true">0 0 0 180 0 180</pose>
<topic>/tethys/ahrs/magnetometer</topic>
</sensor>
</experimental:params>

</include>
</model>
</sdf>
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