Feature/hydrodynamics (#749)

Implement hydrodynamics and thruster plugin. Signed-off-by: Arjo Chakravarty <[email protected]> Co-authored-by: Mabel Zhang <[email protected]> Co-authored-by: Carlos Agüero <[email protected]>
gazebosim · Apr 26, 2021 · 9599770 · 9599770
1 parent 51befb4
commit 9599770
Show file tree

Hide file tree

Showing 10 changed files with 1,194 additions and 0 deletions.
diff --git a/examples/worlds/auv_controls.sdf b/examples/worlds/auv_controls.sdf
@@ -0,0 +1,146 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="buoyant_tethys">
+    <scene>
+      <!-- For turquoise ambient -->
+      <ambient>0.0 1.0 1.0</ambient>
+      <background>0.0 0.7 0.8</background>
+    </scene>
+
+    <physics name="1ms" type="ode">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+    <plugin
+      filename="ignition-gazebo-physics-system"
+      name="ignition::gazebo::systems::Physics">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-user-commands-system"
+      name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-scene-broadcaster-system"
+      name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-contact-system"
+      name="ignition::gazebo::systems::Contact">
+    </plugin>
+
+    <plugin
+      filename="ignition-gazebo-buoyancy-system"
+      name="ignition::gazebo::systems::Buoyancy">
+      <uniform_fluid_density>1000</uniform_fluid_density>
+    </plugin>
+
+    <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>
+
+    <include>
+      <pose>0 0 1 0 0 1.57</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/accurrent/models/MBARI%20Tethys%20LRAUV</uri>
+
+      <!-- Joint controllers -->
+      <plugin
+        filename="ignition-gazebo-joint-position-controller-system"
+        name="ignition::gazebo::systems::JointPositionController">
+        <joint_name>horizontal_fins_joint</joint_name>
+        <p_gain>0.1</p_gain>
+      </plugin>
+
+      <plugin
+        filename="ignition-gazebo-joint-position-controller-system"
+        name="ignition::gazebo::systems::JointPositionController">
+        <joint_name>vertical_fins_joint</joint_name>
+        <p_gain>0.1</p_gain>
+      </plugin>
+
+      <plugin
+        filename="ignition-gazebo-thruster-system"
+        name="ignition::gazebo::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>
+      </plugin>
+
+      <!-- Lift and drag -->
+
+      <!-- Vertical fin -->
+      <plugin
+        filename="ignition-gazebo-lift-drag-system"
+        name="ignition::gazebo::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>
+      </plugin>
+
+      <!-- Horizontal fin -->
+      <plugin
+        filename="ignition-gazebo-lift-drag-system"
+        name="ignition::gazebo::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>
+      </plugin>
+
+      <!-- hydrodynamics plugin-->
+      <plugin
+        filename="ignition-gazebo-hydrodynamics-system"
+        name="ignition::gazebo::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>
+        <xUU>-6.2282</xUU>
+        <xU>0</xU>
+        <yVV>-601.27</yVV>
+        <yV>0</yV>
+        <zWW>-601.27</zWW>
+        <zW>0</zW>
+        <kPP>-0.1916</kPP>
+        <kP>0</kP>
+        <mQQ>-632.698957</mQQ>
+        <mQ>0</mQ>
+        <nRR>-632.698957</nRR>
+        <nR>0</nR>
+      </plugin>
+
+    </include>
+
+  </world>
+</sdf>
diff --git a/src/systems/CMakeLists.txt b/src/systems/CMakeLists.txt
@@ -98,6 +98,7 @@ add_subdirectory(camera_video_recorder)
 add_subdirectory(detachable_joint)
 add_subdirectory(diff_drive)
 add_subdirectory(follow_actor)
+add_subdirectory(hydrodynamics)
 add_subdirectory(imu)
 add_subdirectory(joint_controller)
 add_subdirectory(joint_position_controller)
@@ -121,6 +122,7 @@ add_subdirectory(pose_publisher)
 add_subdirectory(scene_broadcaster)
 add_subdirectory(sensors)
 add_subdirectory(thermal)
+add_subdirectory(thruster)
 add_subdirectory(touch_plugin)
 add_subdirectory(triggered_publisher)
 add_subdirectory(user_commands)

diff --git a/src/systems/hydrodynamics/CMakeLists.txt b/src/systems/hydrodynamics/CMakeLists.txt
@@ -0,0 +1,6 @@
+gz_add_system(hydrodynamics
+  SOURCES
+  Hydrodynamics.cc
+  PUBLIC_LINK_LIBS
+    ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
+)