LRAUVState fields population status

[mabelzhang]

This ticket keeps track of which fields in LRAUVState are populated, to eventually populate all of them. The LRAUVState is meant to be a mirror of SimResultStruct in the MBARI code base, which contains all the information MBARI’s original simulation provides to the control loop.

LRAUVState is defined in lrauv/lrauv_ignition_plugins/proto/lrauv_state.proto.

Checked box indicates populated.
Empty box indicates needs work.
(*) indicates populated but need modification (see section below).

• ignition.msgs.Header header
• int32 errorPad_
• int32 utmZone_
• int32 northernHemi_
• float propOmega_
• float propThrust_
• float propTorque_
• float rudderAngle_
• float elevatorAngle_
• float massPosition_
• float buoyancyPosition_
• float depth_

• ignition.msgs.Vector3d rph_ // roll_, pitch_, heading_ in SimResultStruct

• float speed_
• double latitudeDeg_(🤦‍♀️ Fix thruster coefficient #90)
• double longitudeDeg_ (🤦‍♀️ Fix thruster coefficient #90)
• float netBuoy_

• ignition.msgs.Vector3d force_ // forceX_, forceY_, forceZ_ in SimResultStruct
• ignition.msgs.Vector3d pos_ // posX_, posY_, posZ_ in SimResultStruct (Document / update coordinates and units #48)
• ignition.msgs.Vector3d posRPH_ // posRoll_, posPitch_, posHeading_ in SimResultStruct
• ignition.msgs.Vector3d posDot_ // posXDot_, posYDot_, posZDot_ in SimResultStruct (Document / update coordinates and units #48)
• ignition.msgs.Vector3d rateUVW_ // rateU_, rateV_, rateW_ in SimResultStruct
• ignition.msgs.Vector3d ratePQR_ // rateP_, rateQ_, rateR_ in SimResultStruct

• float northCurrent_ (Science sensors: detect when spherical coordinates are set #77)
• float eastCurrent_ (Science sensors: detect when spherical coordinates are set #77)
• float vertCurrent_ (Science sensors: detect when spherical coordinates are set #77)
• float magneticVariation_
• float soundSpeed_
• float temperature_ (Science sensors: detect when spherical coordinates are set #77)
• float salinity_ (Science sensors: detect when spherical coordinates are set #77)
• float density_
• repeated float values_ // Size 4 (Science sensors: detect when spherical coordinates are set #77)

Populated but need modification:

Note that the coordinate frame convention interpreted by the MBARI controller is FSK.

• depth_ and rph_ are currently in the ROS coordinate frame convention - x forward, z up, y left. Need to change to the FSK convention that MBARI's controller uses - x fore, y starboard (right), z keel (down). (Document / update coordinates and units #48)

@braanan @arjo129

[mabelzhang]

@braanan What's the difference between roll_, pitch_, heading_ and posRoll_, posPitch_, posHeading_? Looks like the first set is written to the SimSlate, the second isn't. Are they the same values?

Looking at the SimSlate::Write pattern you gave, looks like all of these are written to SimSlate. But so are science outputs, which we don't have yet. Do we need all of these?
posX_, posY_, posZ_
posXDot_, posYDot_, posZDot_
rateU_, rateV_, rateW_
rateP_, rateQ_, rateR_

Could we get a description in English for these? Looking at the constants, I might guess these:
posXYZ is position
posXYZDot is velocity wrt ground
rateUVW is "WATER_VELOCITY", as in vehicle velocity in water - what's the difference between this and velocity wrt ground? Or velocity of the water?
ratePQR is roll, pitch, yaw rate, respectively

@arjo129 These values are for mission integration. If you have spare cycles, we'll probably want to add some or all of them to TethysCommPlugin::PostUpdate().

[braanan]

Cycling back to this...

posX_, posY_, posZ_ // vehicle position, northings (m), eastings (m), depth (m). posX_, posY_ should be 0.0 m at init.
posXDot_, posYDot_, posZDot_ // Ignore. (used to debug the sim. Holds rates derived from the caluculated forces before the dt integration)

Rate vector in the vehicle farm:
rateU_ // vel x
rateV_ // vel y
rateW_ // vel z
rateP_ // Pitch rate
rateQ_ // Roll rate
rateR_ // Yaw rate

[chapulina]

#81 is documenting on the message file itself which fields are populated, their units, frames of reference, etc. I suggest we close this issue after that's merged and track future changes on the message itself.