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Added example world for DopplerVelocityLogSystem #2373

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Apr 18, 2024
Merged

Added example world for DopplerVelocityLogSystem #2373

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940cdc3
Added dvl-system example world
sauk2 Apr 17, 2024
a8e8abc
Added README to prevent running integration tests as examples
sauk2 Apr 17, 2024
2bb5394
Removed extra line at the end
sauk2 Apr 17, 2024
4d06d68
Added LRAUV control with instructions
sauk2 Apr 18, 2024
95207e2
Renamed from flat_seabed to dvl_world
sauk2 Apr 18, 2024
617c465
Fixed world name inside dvl_world
sauk2 Apr 18, 2024
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291 changes: 291 additions & 0 deletions examples/worlds/dvl_world.sdf
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<?xml version="1.0" ?>
<!--
Example showing the usage of the Doppler Velocity Log (DVL) sensor
on an Autonomous Underwater Vehicle (AUV).
The world contains the MBARI Tethys LRAUV model along with
the following plugins:
* Buoyancy: applies buoyancy forces
* DopplerVelocityLogSystem: sensor to measure doppler velocity
* JointPositionController: controls the vertical and horizontal fins
* LiftDrag: generates forces on the vertical and horizontal fins
* Thruster: propels the vehicle
* Hydrodynamics: applies forces such as added mass, drag and coriolis
The AUV can be controlled using the following commands (to move in a circle):
1. Move the rudder:
gz topic -t /model/tethys/joint/vertical_fins_joint/0/cmd_pos \
-m gz.msgs.Double -p 'data: -0.17'
2. Propel the vehicle:
gz topic -t /model/tethys/joint/propeller_joint/cmd_thrust \
-m gz.msgs.Double -p 'data: -31'
To see the DVL output run the following command:
3. gz topic -t /dvl/velocity -e
-->
<sdf version="1.6">
<world name="dvl_world">
<scene>
<!-- For turquoise ambient to match particle effect -->
<ambient>0.0 1.0 1.0</ambient>
<!-- For default gray ambient -->
<background>0.0 0.7 0.8</background>

<grid>false</grid>
</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="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
filename="gz-sim-sensors-system"
name="gz::sim::systems::Sensors">
</plugin>
<plugin
filename="gz-sim-dvl-system"
name="gz::sim::systems::DopplerVelocityLogSystem">
</plugin>
<plugin
filename="gz-sim-buoyancy-system"
name="gz::sim::systems::Buoyancy">
<uniform_fluid_density>1000</uniform_fluid_density>
</plugin>
<plugin
filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>
<plugin
filename="gz-sim-contact-system"
name="gz::sim::systems::Contact">
</plugin>
<plugin
filename="gz-sim-user-commands-system"
name="gz::sim::systems::UserCommands">
</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>

<!-- This invisible plane helps with orbiting the camera, especially at large scales -->
<model name="horizontal_plane">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<!-- 300 km x 300 km -->
<size>300000 300000</size>
</plane>
</geometry>
<transparency>1.0</transparency>
</visual>
</link>
</model>

<model name="sea_bottom">
<static>true</static>
<pose>0 0 -100 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<!-- 300 km x 300 km -->
<size>300000 300000</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<material>
<ambient>0.5 0.5 0.5</ambient>
<diffuse>0.5 0.5 0.5</diffuse>
</material>
<geometry>
<plane>
<normal>0 0 1</normal>
<!-- 300 km x 300 km -->
<size>300000 300000</size>
</plane>
</geometry>
</visual>
</link>
</model>

<include>
<pose>0 0 -80 0 0 1.57</pose>
<uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>

<experimental:params>
<sensor
element_id="base_link" action="add"
name="teledyne_pathfinder_dvl"
type="custom" gz:type="dvl">
<pose degrees="true">-0.60 0 -0.16 0 0 180</pose>
<always_on>1</always_on>
<update_rate>1</update_rate>
<topic>/dvl/velocity</topic>
<gz:dvl>
<type>phased_array</type>
<arrangement degrees="true">
<beam id="1">
<aperture>2</aperture>
<rotation>45</rotation>
<tilt>30</tilt>
</beam>
<beam>
<aperture>2</aperture>
<rotation>135</rotation>
<tilt>30</tilt>
</beam>
<beam>
<aperture>2</aperture>
<rotation>-45</rotation>
<tilt>30</tilt>
</beam>
<beam>
<aperture>2</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>
</tracking>
<!-- Roughly 1 m resolution at a 100m -->
<resolution>0.01</resolution>
<maximum_range>100.</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>
</experimental:params>

<!-- Odometry publisher -->
<plugin
filename="gz-sim-odometry-publisher-system"
name="gz::sim::systems::OdometryPublisher">
</plugin>

<!-- Joint controllers -->
<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>
</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>
</plugin>

<plugin
filename="gz-sim-thruster-system"
name="gz::sim::systems::Thruster">
<namespace>tethys</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>

<!-- Lift and drag -->

<!-- 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>
</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>
</plugin>

<!-- Hydrodynamics plugin-->
<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>
</include>
</world>
</sdf>
9 changes: 9 additions & 0 deletions test/worlds/README.md
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# Integration Testing Files

## Purpose

This folder contains world files specifically designed for purpose of integration testing of system plugins. **They are strictly for testing and not meant to be run as examples.**

## Running system plugin examples

The world files are present in the `examples/worlds` directory of this repository.
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