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Feature/hydrodynamics #749

Merged
merged 18 commits into from
Apr 26, 2021
Merged

Feature/hydrodynamics #749

merged 18 commits into from
Apr 26, 2021

Commits on Apr 23, 2021

  1. Phase1/combinehistories (#1) 

    * 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]>
    @arjo129 @mabelzhang
    arjo129 and mabelzhang committed Apr 23, 2021
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  2. rearrange files 

    Signed-off-by: Arjo Chakravarty <[email protected]>
    @arjo129
    arjo129 committed Apr 23, 2021
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  3. rename files 

    Signed-off-by: Arjo Chakravarty <[email protected]>
    @arjo129
    arjo129 committed Apr 23, 2021
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  4. ignition-ify plugins 

    Signed-off-by: Arjo Chakravarty <[email protected]>
    @arjo129
    arjo129 committed Apr 23, 2021
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  5. Add to build 

    Signed-off-by: Arjo Chakravarty <[email protected]>
    @arjo129
    arjo129 committed Apr 23, 2021
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  6. Add tutorial + example 

    Signed-off-by: Arjo Chakravarty <[email protected]>
    @arjo129
    arjo129 committed Apr 23, 2021
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  7. Fix 'invalid animation update data' msg for actors (#754) 

    Signed-off-by: Ashton Larkin <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
    @adlarkin @arjo129
    adlarkin authored and arjo129 committed Apr 23, 2021
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  8. [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]>
Signed-off-by: Arjo Chakravarty <[email protected]>
    @doisyg @arjo129
    doisyg authored and arjo129 committed Apr 23, 2021
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  9. Style changes 

    Signed-off-by: Carlos Agüero <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
    @caguero @arjo129
    caguero authored and arjo129 committed Apr 23, 2021
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  10. Minor tweaks 

    Signed-off-by: Carlos Agüero <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
    @caguero @arjo129
    caguero authored and arjo129 committed Apr 23, 2021
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  11. Add better error logging 

    Signed-off-by: Arjo Chakravarty <[email protected]>
    @arjo129
    arjo129 committed Apr 23, 2021
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  12. Fix Data Pointer 

    Signed-off-by: Arjo Chakravarty <[email protected]>
    @arjo129
    arjo129 committed Apr 23, 2021
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  13. scope lock and add docygen comments 

    Signed-off-by: Arjo Chakravarty <[email protected]>
    @arjo129
    arjo129 committed Apr 23, 2021
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  14. Style fix 

    Signed-off-by: Arjo Chakravarty <[email protected]>
    @arjo129
    arjo129 committed Apr 23, 2021
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  15. more fixes 

    Signed-off-by: Arjo Chakravarty <[email protected]>
    @arjo129
    arjo129 committed Apr 23, 2021
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Commits on Apr 24, 2021

  1. units + explicit override 

    Signed-off-by: Arjo Chakravarty <[email protected]>
    @arjo129
    arjo129 committed Apr 24, 2021
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  2. Add units 

    Signed-off-by: Arjo Chakravarty <[email protected]>
    @arjo129
    arjo129 committed Apr 24, 2021
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  3. Merge branch 'ign-gazebo5' into feature/hydrodynamics

    @arjo129
    arjo129 authored Apr 24, 2021
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