Feature/hydrodynamics #749

arjo129 · 2021-04-08T10:31:52Z

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🎉 New feature

Closes #

Summary

This PR adds support for hydrodynamic simulation of underwater vehicles. It does so by introducing two new plugins. The first consists of a new Hydrodynamics system and a new Thruster system. These systems are based on the equations described in Fossen's "Guidance and Control of Ocean Vehicles".

I've added an example world and tutorial giving more details of how to use the new plugins.

Test it

An example configuration is provided in the examples folder. The example uses the LiftDrag plugin to apply steering controls. It also uses the thruster plugin to propel the craft and the buoyancy plugin for buoyant force. To run the example run.

ign gazebo auv_controls.sdf

To control the rudder of the craft run the following

ign topic -t /model/tethys/joint/vertical_fins_joint/0/cmd_pos -m ignition.msgs.Double -p 'data: -0.17'

To apply a thrust you may run the following command

ign topic -t /model/tethys/joint/propeller_joint/cmd_pos -m ignition.msgs.Double -p 'data: -31'

The vehicle should move in a circle.

Checklist

Signed all commits for DCO
Added tests
Added example and/or tutorial
Updated documentation (as needed)
Updated migration guide (as needed)
codecheck passed (See contributing)
All tests passed (See test coverage)
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caguero

This looks pretty good! Thanks for the tutorial and examples. I added some minor suggestions but it's very close.

src/systems/hydrodynamics/Hydrodynamics.cc

src/systems/hydrodynamics/Hydrodynamics.hh

src/systems/hydrodynamics/Hydrodynamics.cc

caguero · 2021-04-22T19:45:47Z

src/systems/hydrodynamics/Hydrodynamics.cc

+  if (!_ecm.Component<ignition::gazebo::components::WorldPose>(
+      _entity))
+  {
+    _ecm.CreateComponent(_entity,


Out of curiosity, do you need to create this component and the angular velocity one? I don't see where you consume them.

WorldPose is used here: https://github.com/ignitionrobotics/ign-gazebo/pull/749/files/d3049970c7f3feac28b5c96e9d79e6ebee4d3f69#diff-1a4f185dacd3135bdd14923737f61e9be4c2c6358fd334e8c8ed5d9452f77450R244-R248 to calculate the transform between local and global frame.

src/systems/hydrodynamics/Hydrodynamics.cc

src/systems/thruster/Thruster.hh

src/systems/thruster/Thruster.cc

src/systems/thruster/Thruster.hh

src/systems/thruster/Thruster.cc

caguero · 2021-04-22T20:19:01Z

I took the liberty of adding a few commits (22c0f13 and 057d9e2) to tweak the style and minor typos.

* init integration setup Signed-off-by: Mabel Zhang <[email protected]> * add custom protobuf messages; need to fix include and lib paths Signed-off-by: Mabel Zhang <[email protected]> * Thruster plugin (#10) * fix fluid density Signed-off-by: Arjo Chakravarty <[email protected]> * Finish porting force plugin Signed-off-by: Arjo Chakravarty <[email protected]> * fix formula Signed-off-by: Arjo Chakravarty <[email protected]> * fix propeller spinning direction Signed-off-by: Arjo Chakravarty <[email protected]> * Add plugin Signed-off-by: Arjo Chakravarty <[email protected]> * update citation Signed-off-by: Arjo Chakravarty <[email protected]> * Style fixes Signed-off-by: Arjo Chakravarty <[email protected]> * style fixes Signed-off-by: Arjo Chakravarty <[email protected]> * purposely messing up, so that git will eventually stop being a git and actually correctly sync this file Signed-off-by: Arjo Chakravarty <[email protected]> * Git, stop being a git and sync this file Signed-off-by: Arjo Chakravarty <[email protected]> * fix line length 🧹 Signed-off-by: Arjo Chakravarty <[email protected]> * update license 🗝️ Signed-off-by: Arjo Chakravarty <[email protected]> * whoops wrong location for 🗝️ license Signed-off-by: Arjo Chakravarty <[email protected]> * update year. Signed-off-by: Arjo Chakravarty <[email protected]> * update year Signed-off-by: Arjo Chakravarty <[email protected]> * add protobuf messages Signed-off-by: Mabel Zhang <[email protected]> * cleanup Signed-off-by: Mabel Zhang <[email protected]> * add initial gps code Signed-off-by: Arjo Chakravarty <[email protected]> * Initial integration work Signed-off-by: Arjo Chakravarty <[email protected]> * Add current state to comms plugin Signed-off-by: Arjo Chakravarty <[email protected]> * Add lat long Signed-off-by: Arjo Chakravarty <[email protected]> * Add proppeller angular velocity Signed-off-by: Arjo Chakravarty <[email protected]> * Adds support for sending commands Signed-off-by: Arjo Chakravarty <[email protected]> * add mbari operation commands to readme Signed-off-by: Mabel Zhang <[email protected]> * add manual code check scripts Signed-off-by: Mabel Zhang <[email protected]> * Manual style fixes Signed-off-by: Arjo Chakravarty <[email protected]> * fix crash with fixnan, fix command fields (#17) Signed-off-by: Mabel Zhang <[email protected]> * finish implementation Signed-off-by: Arjo Chakravarty <[email protected]> * fix compile issues Signed-off-by: Arjo Chakravarty <[email protected]> * Adds plugin to model Signed-off-by: Arjo Chakravarty <[email protected]> * fix inability to reverse. Signed-off-by: Arjo Chakravarty <[email protected]> * publish sim time in LRAUVState.Header; fix raw pointer in msg Signed-off-by: Mabel Zhang <[email protected]> * fix camel case Signed-off-by: Arjo Chakravarty <[email protected]> * remove blank lines Signed-off-by: Arjo Chakravarty <[email protected]> * adds rudder position reporting * added more logs Signed-off-by: Arjo Chakravarty <[email protected]> * Change units to radians Signed-off-by: Arjo Chakravarty <[email protected]> * Add transform for velocity forces. Signed-off-by: Arjo Chakravarty <[email protected]> * Adds hydrodynamics Signed-off-by: Arjo Chakravarty <[email protected]> * remove unessecary debugging stuff Signed-off-by: Arjo Chakravarty <[email protected]> * clamp thruster value to pid controller to prevent crash Signed-off-by: Mabel Zhang <[email protected]> * expose robot namespace as SDF plugin parameter Signed-off-by: Mabel Zhang <[email protected]> * standardize thruster plugin with Ignition style Signed-off-by: Mabel Zhang <[email protected]> * Added centripetal matrix back in. Signed-off-by: Arjo Chakravarty <[email protected]> * Update comments Signed-off-by: Arjo Chakravarty <[email protected]> * Update constants and set controllers to output in radians per second. Signed-off-by: Arjo Chakravarty <[email protected]> * refactor out ThrustToAngularVec function Signed-off-by: Arjo Chakravarty <[email protected]> * refactor and fix style Signed-off-by: Arjo Chakravarty <[email protected]> * more refactoring Signed-off-by: Arjo Chakravarty <[email protected]> Co-authored-by: Mabel Zhang <[email protected]> Signed-off-by: Arjo Chakravarty <[email protected]>

Signed-off-by: Arjo Chakravarty <[email protected]>

Signed-off-by: Ashton Larkin <[email protected]> Signed-off-by: Arjo Chakravarty <[email protected]>

* add enable/disable diffdrive Signed-off-by: Guillaume Doisy <[email protected]> * remove debug Signed-off-by: Guillaume Doisy <[email protected]> * do not subscribe to enable if topic is empty Signed-off-by: Guillaume Doisy <[email protected]> * add test Signed-off-by: Guillaume Doisy <[email protected]> * lint and style Signed-off-by: Guillaume Doisy <[email protected]> * change enable type to bool and renamed to enabled Signed-off-by: Guillaume Doisy <[email protected]> Signed-off-by: Arjo Chakravarty <[email protected]>

Signed-off-by: Carlos Agüero <[email protected]> Signed-off-by: Arjo Chakravarty <[email protected]>

Signed-off-by: Arjo Chakravarty <[email protected]>

* 🎈 3.8.0 (#688) Signed-off-by: Louise Poubel <[email protected]> * Make it so joint state publisher is quieter (#696) Signed-off-by: Michael Carroll <[email protected]> * [BULLET] Making GetContactsFromLastStepFeature optional in Collision Features (#690) * GetContactsFromLastStepFeature made optional Signed-off-by: Tomas Lorente <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]> * Add test for thermal object temperatures below 0 kelvin (#621) Signed-off-by: Ashton Larkin <[email protected]> * Scenebroadcaster sensors (#698) * Add sensors to scene broadcaster Signed-off-by: Nate Koenig <[email protected]> * Update src/systems/scene_broadcaster/SceneBroadcaster.cc Co-authored-by: Michael Carroll <[email protected]> * Fix codecheck Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Michael Carroll <[email protected]> * Fix diffuse and ambient values for ackermann example (#707) Signed-off-by: Ammaar Solkar <[email protected]> * 🎈 5.0.0 (#731) Signed-off-by: Louise Poubel <[email protected]> * Support configuring particle scatter ratio in particle emitter system (#674) * set particle scatter ratio through sdf Signed-off-by: Ian Chen <[email protected]> * address feedback Signed-off-by: Ian Chen <[email protected]> * add todo note about merging forward Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Ashton Larkin <[email protected]> * Update PlaybackScrubber description (#733) Signed-off-by: Ammaar Solkar <[email protected]> * Iterate through changed links only in UpdateSim (#678) Signed-off-by: Ashton Larkin <[email protected]> * Do not pass -Wno-unused-parameter to MSVC compiler (#716) Signed-off-by: Silvio Traversaro <[email protected]> * Use Protobuf_IMPORT_DIRS instead of PROTOBUF_IMPORT_DIRS for compatibility with Protobuf CMake config (#715) Signed-off-by: Silvio Traversaro <[email protected]> * Fix component inspector shutdown crash (#724) Signed-off-by: Louise Poubel <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> * Validate step size and RTF parameters (#740) Only set them if they are strictly positive. Signed-off-by: Luca Della Vedova <[email protected]> * Fix compute_rtfs arguments (#737) Signed-off-by: Caio Amaral <[email protected]> * Fixed collision visual bounding boxes (#746) Signed-off-by: Jenn Nguyen <[email protected]> * Fix CMakelists.txt merge Signed-off-by: Nate Koenig <[email protected]> * ECM's ChangedState gets message with modified components (#742) * ecm's ChangedState to contain modified components Signed-off-by: Jenn Nguyen <[email protected]> * updated log_system test Signed-off-by: Jenn Nguyen <[email protected]> * removed unnecessary calls Signed-off-by: Jenn Nguyen <[email protected]> Co-authored-by: Ian Chen <[email protected]> * fixed particle emitter forward playback (#745) Signed-off-by: Jenn Nguyen <[email protected]> * Merge pull request #730 from ignitionrobotics/particle_emitter Particle emitter based on SDF * 4 7 0 prep (#755) * Prepare for 4.7.0 Signed-off-by: Nate Koenig <[email protected]> * Added placeholder Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> * Fix 'invalid animation update data' msg for actors (#754) Signed-off-by: Ashton Larkin <[email protected]> * Update benchmark comparison instructions (#766) (#766) Signed-off-by: Ashton Larkin <[email protected]> * [DiffDrive] add enable/disable (#772) * add enable/disable diffdrive Signed-off-by: Guillaume Doisy <[email protected]> * remove debug Signed-off-by: Guillaume Doisy <[email protected]> * do not subscribe to enable if topic is empty Signed-off-by: Guillaume Doisy <[email protected]> * add test Signed-off-by: Guillaume Doisy <[email protected]> * lint and style Signed-off-by: Guillaume Doisy <[email protected]> * change enable type to bool and renamed to enabled Signed-off-by: Guillaume Doisy <[email protected]> * Add odometry publisher system (#547) * Create Initial Odometry Publisher system plugin Add code for initial plugin that gets position from Pose component and calculates velocities based on rolling mean from displacement data. Signed-off-by: Maganty Rushyendra <[email protected]> * Remove Linear and Angular Velocity components Also renames frames in Odometry msg to include model name, and makes various style changes. Signed-off-by: Maganty Rushyendra <[email protected]> * Get World pose instead of pose of robot base frame Signed-off-by: Maganty Rushyendra <[email protected]> * Add documentation for variables and functions Includes minor stylistic changes. Signed-off-by: Maganty Rushyendra <[email protected]> * Check for valid odomTopic and update copyright year Signed-off-by: Maganty Rushyendra <[email protected]> * Add tests for OdometryPublisherSystem and fix velocity calculation bug Swap X and Y linear velocities when calculating odometry velocities relative to robotBaseFrame. Signed-off-by: Maganty Rushyendra <[email protected]> Co-authored-by: ahcorde <[email protected]> * Patch particle emitter2 service (#777) * Patch particle emitter2 service Signed-off-by: Nate Koenig <[email protected]> * Remove condition variable Signed-off-by: Nate Koenig <[email protected]> * Set emitter frame and relative pose Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> * Preparing for 4.8.0 release (#780) Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> * 👩‍🌾 Enable Focal CI (#646) Signed-off-by: Louise Poubel <[email protected]> Co-authored-by: Michael Carroll <[email protected]> * [TPE] Support setting individual link velocity (#427) Signed-off-by: claireyywang <[email protected]> Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Ian Chen <[email protected]> Co-authored-by: Louise Poubel <[email protected]> * Don't store duplicate ComponentTypeId in ECM (#751) Signed-off-by: Louise Poubel <[email protected]> * 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]> * Fix macOS build: components::Name in benchmark (#784) Signed-off-by: Louise Poubel <[email protected]> Co-authored-by: Steve Peters <[email protected]> * Fix ColladaExporter submesh index bug (#763) Signed-off-by: Jorge Perez <[email protected]> * 👩‍🌾 Fix Windows build and some warnings (#782) Signed-off-by: Louise Poubel <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> * Prevent crash on Plotting plugin with mutex (#747) Signed-off-by: Louise Poubel <[email protected]> * Bump ign-physics version to 3.2 (#792) Signed-off-by: Louise Poubel <[email protected]> * Bump to ign-msgs 7.1 / sdformat 11.1, Windows fixes (#758) Signed-off-by: Louise Poubel <[email protected]> * Util: Use public API from libsdformat for detecting non-file source (#794) Signed-off-by: Eric Cousineau <[email protected]> * Fix included nested model expansion in SDF generation (#768) * fixed included nested model expansion Signed-off-by: Jenn Nguyen <[email protected]> * added resource path to test Signed-off-by: Jenn Nguyen <[email protected]> * use orig URIs & support multi level nesting Signed-off-by: Jenn Nguyen <[email protected]> * save fuel version when enabled Signed-off-by: Jenn Nguyen <[email protected]> * retrieve uri from map Signed-off-by: Jenn Nguyen <[email protected]> * copy included element Signed-off-by: Jenn Nguyen <[email protected]> * clear attributes before copying include element Signed-off-by: Jenn Nguyen <[email protected]> * Map canonical links to their models (#736) Signed-off-by: Ashton Larkin <[email protected]> * ColladaExporter, export submesh selected (#802) * Export only submesh if selected * Add test case for the PR * Attempting a unified solution Signed-off-by: Jorge Perez <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Michael Carroll <[email protected]> Co-authored-by: Jose Tomas Lorente <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Ashton Larkin <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Ammaar Solkar <[email protected]> Co-authored-by: Ian Chen <[email protected]> Co-authored-by: Ashton Larkin <[email protected]> Co-authored-by: Silvio Traversaro <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: Luca Della Vedova <[email protected]> Co-authored-by: Caio Amaral <[email protected]> Co-authored-by: Jenn Nguyen <[email protected]> Co-authored-by: G.Doisy <[email protected]> Co-authored-by: Rushyendra Maganty <[email protected]> Co-authored-by: Claire Wang <[email protected]> Co-authored-by: Arjo Chakravarty <[email protected]> Co-authored-by: Mabel Zhang <[email protected]> Co-authored-by: Carlos Agüero <[email protected]> Co-authored-by: Steve Peters <[email protected]> Co-authored-by: Jorge Perez <[email protected]> Co-authored-by: Eric Cousineau <[email protected]> Co-authored-by: Jorge Perez <[email protected]>

Pedro-Roque · 2024-06-03T15:47:21Z

@arjo129 - opening a discussion on naming for this plugin. I understand that Thrusters are used for underwater propellers enclosed in a cylinder to propel a vehicle forward. However, thrusters are also used in the context of a spacecraft, in which case the dynamics are considerably different. What name should we give to the later case?

arjo129 · 2024-06-05T03:04:51Z

Hi @Pedro-Roque thanks for pointing this out. As this has been merged and in use for several years now it would be difficult to change. I recommend opening a ticket on the issues page so that we can track this conversation. I guess this would have been better served if it was called "MaritimeThruster" instead of "Thruster". Perhaps you can call yours "SpaceThruster"? If you are using RCS then one could call it "RCSThruster".

arjo129 requested a review from chapulina as a code owner April 8, 2021 10:31

github-actions bot added 🏢 edifice Ignition Edifice 🏯 fortress Ignition Fortress labels Apr 8, 2021

caguero self-requested a review April 8, 2021 14:33

traversaro mentioned this pull request Apr 9, 2021

Investigate support for Ignition Gazebo robotology/gazebo-fmi#65

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chapulina removed the 🏯 fortress Ignition Fortress label Apr 19, 2021

caguero requested changes Apr 22, 2021

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arjo129 and others added 15 commits April 23, 2021 17:44

rearrange files

c4d4050

Signed-off-by: Arjo Chakravarty <[email protected]>

rename files

189a2a5

Signed-off-by: Arjo Chakravarty <[email protected]>

ignition-ify plugins

600ae66

Signed-off-by: Arjo Chakravarty <[email protected]>

Add to build

641202e

Signed-off-by: Arjo Chakravarty <[email protected]>

Add tutorial + example

b6f06ee

Signed-off-by: Arjo Chakravarty <[email protected]>

Fix 'invalid animation update data' msg for actors (#754)

d7f10b9

Signed-off-by: Ashton Larkin <[email protected]> Signed-off-by: Arjo Chakravarty <[email protected]>

Style changes

b051931

Signed-off-by: Carlos Agüero <[email protected]> Signed-off-by: Arjo Chakravarty <[email protected]>

Minor tweaks

7d7fa18

Signed-off-by: Carlos Agüero <[email protected]> Signed-off-by: Arjo Chakravarty <[email protected]>

Add better error logging

4b2166a

Signed-off-by: Arjo Chakravarty <[email protected]>

Fix Data Pointer

e3815c3

Signed-off-by: Arjo Chakravarty <[email protected]>

scope lock and add docygen comments

39affa8

Signed-off-by: Arjo Chakravarty <[email protected]>

Style fix

d310576

Signed-off-by: Arjo Chakravarty <[email protected]>

more fixes

65350b0

Signed-off-by: Arjo Chakravarty <[email protected]>

arjo129 requested a review from iche033 as a code owner April 23, 2021 09:45

arjo129 and others added 3 commits April 24, 2021 10:30

units + explicit override

e2ab38f

Signed-off-by: Arjo Chakravarty <[email protected]>

Add units

99ae36a

Signed-off-by: Arjo Chakravarty <[email protected]>

Merge branch 'ign-gazebo5' into feature/hydrodynamics

8986c78

caguero approved these changes Apr 26, 2021

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caguero merged commit 9599770 into gazebosim:ign-gazebo5 Apr 26, 2021

This was referenced Nov 10, 2021

Document / update coordinates and units osrf/lrauv#48

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Thruster plugin: add tests and velocity control #1190

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chapulina mentioned this pull request Dec 14, 2021

Port USV plugins from gazebo #1247

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chapulina mentioned this pull request Jan 6, 2022

Add tests for Hydrodynamics plugin #1273

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Feature/hydrodynamics #749

Feature/hydrodynamics #749

arjo129 commented Apr 8, 2021 •

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Feature/hydrodynamics #749

Feature/hydrodynamics #749

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arjo129 commented Apr 8, 2021 • edited Loading

🎉 New feature

Summary

Test it

Checklist

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