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Add support for boat airframe in SITL #409

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merged 2 commits into from
Feb 24, 2020
Merged

Add support for boat airframe in SITL #409

merged 2 commits into from
Feb 24, 2020

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Jaeyoung-Lim
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@Jaeyoung-Lim Jaeyoung-Lim commented Feb 9, 2020 •
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Recently there has been interest on using PX4 on USV (unmanned surface vehicle) systems. This PR adapts the usv_dynamics plugin from the vrx simulation and integrates the boat simulation into px4 SITL.

As PX4 does not officially support boats yet, I hope this PR becomes a initial step towards supporting such applications.

The changes that were done compared to the original vrx project are as the following

  • ROS dependencies have been removed
  • Removed wave plugin dependencies (The original code segfaults if the wave plugin does not exist)
  • Thrust plugin has been removed and the already existing gazebo_motor_model is used
  • Integrated into the mavlink HIL interface for px4 sitl

Test Data Coverage
The video below shows the WAM-V vehicle being controlled in manual mode.
ezgif com-video-to-gif(4)

Additional Context
This is a updated version of #357

This was referenced Feb 10, 2020
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@Jaeyoung-Lim
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Jaeyoung-Lim commented Feb 21, 2020 •
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@TSC21 @bkueng This was merged in firmware already. Can we merge this to make it sync?

@Jaeyoung-Lim Jaeyoung-Lim requested review from TSC21 and bkueng February 21, 2020 09:17
@LorenzMeier
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@Jaeyoung-Lim Please rebase

@Jaeyoung-Lim
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@LorenzMeier Done! Thanks!

@hamishwillee
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@Jaeyoung-Lim Associated docs PR?

@Jaeyoung-Lim
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@hamishwillee I haven't forgot! I will add it for sure :)

@Jaeyoung-Lim
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@hamishwillee Here it is : PX4/PX4-Devguide#958

@Jaeyoung-Lim Jaeyoung-Lim force-pushed the pr-sitl-boat branch 3 times, most recently from 59ad597 to 2af2c83 Compare February 24, 2020 11:11
@Jaeyoung-Lim
Add usv_dynamics plugin for simulating boat dynamics
8026746 
usv_dynamics plugin from osrf/vrx project ported into PX4 sitl gazebo
@Jaeyoung-Lim
Add boat model and world
58615bf 
This adds the boat and world model adapted from WAM-V model from osrf/vrx
@Jaeyoung-Lim Jaeyoung-Lim merged commit 88ed282 into PX4:master Feb 24, 2020
@Jaeyoung-Lim Jaeyoung-Lim mentioned this pull request Feb 24, 2020
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@Jaeyoung-Lim Jaeyoung-Lim deleted the pr-sitl-boat branch March 10, 2020 20:03
@mrpollo mrpollo mentioned this pull request Mar 16, 2020
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@xdwgood
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xdwgood commented Apr 3, 2020

@Jaeyoung-Lim
Do you think this solution is acceptable? https://discuss.px4.io/t/error-about-gazebo-sitl-building/12019/11?u=xdwgood

I ran into the problem of consent today, and solved it by changing the code.
Or what is the correct solution?

@Jaeyoung-Lim
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@xdwgood It is not the correct solution. It is more likely the ifdef of gazebo version is maybe not enough https://github.com/PX4/sitl_gazebo/blob/master/src/gazebo_usv_dynamics_plugin.cpp#L251

Which version of gazebo are you running? We can build the plugins agains gazebo7 and gazebo9.

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xdwgood commented Apr 3, 2020

@Jaeyoung-Lim gazebo9.11.0

@Jaeyoung-Lim
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@xdwgood Hmm that is strange. Could you open a separate issue?

RyosukeMatsushima pushed a commit to RyosukeMatsushima/PX4-SITL_gazebo that referenced this pull request Jun 21, 2022
@Jaeyoung-Lim
Add support for boat airframe in SITL (PX4#409)
f371758 
* Add usv_dynamics plugin for simulating boat dynamics

usv_dynamics plugin from osrf/vrx project ported into PX4 sitl gazebo

* Add boat model and world

This adds the boat and world model adapted from WAM-V model from osrf/vrx
@hamishwillee
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@christopherSuts Please don't necrobump issues. A question like this would be better asked in the discussion boards.

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@LorenzMeier LorenzMeier LorenzMeier approved these changes

@bkueng bkueng bkueng approved these changes

@TSC21 TSC21 Awaiting requested review from TSC21

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@Jaeyoung-Lim @LorenzMeier @hamishwillee @xdwgood @bkueng