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Merge branch 'added-mass-values-in-sdf' into quarkytale/heave_cone_pl…
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@quarkytale
quarkytale committed Jan 26, 2023
2 parents d1da74a + 623f737 commit f357768
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Showing 3 changed files with 106 additions and 38 deletions.
138 changes: 102 additions & 36 deletions buoy_description/models/mbari_wec_base/model.sdf.em
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Original file line number Diff line number Diff line change
Expand Up @@ -29,11 +29,9 @@ num_tether_bottom_links = 5

# Heave cone
heave_total_mass = 817
trefoil_mass = 10
trefoil_mass = 20
mu_zz = 10000.0

# Heave cone
heave_total_mass = 817
trefoil_mass = 10

###################
# Computed values #
Expand Down Expand Up @@ -84,13 +82,36 @@ pto_scale = pto_inner_radius / pto_stl_inner_radius
<pose>0 0 2.13 0 0 0</pose>
<mass>1400</mass>
<inertia>
<ixx>1429</ixx>
<ixy>6.77</ixy>
<ixz>4.69</ixz>
<iyy>670.31</iyy>
<iyz>30.5</iyz>
<izz>1476</izz>
<ixx>1450.0</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>1450.0</iyy>
<iyz>0.0</iyz>
<izz>670.0</izz>
</inertia>
<fluid_added_mass>
<xx>330.0</xx>
<xy>0.0</xy>
<xz>0.0</xz>
<xp>0.0</xp>
<xq>180.0</xq>
<xr>0.0</xr>
<yy>330.0</yy>
<yz>0.0</yz>
<yp>-180.0</yp>
<yq>0.0</yq>
<yr>0.0</yr>
<zz>2800.0</zz>
<zp>0.0</zp>
<zq>0.0</zq>
<zr>0.0</zr>
<pp>430</pp>
<pq>0.0</pq>
<pr>0.0</pr>
<qq>430</qq>
<qr>0.0</qr>
<rr>0.0</rr>
</fluid_added_mass>
</inertial>
<visual name="visual_Buoy">
<geometry>
Expand Down Expand Up @@ -130,15 +151,38 @@ pto_scale = pto_inner_radius / pto_stl_inner_radius
<pose relative_to="Buoy">0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 -3.67 0 0 0</pose>
<mass>605</mass>
<mass>600</mass>
<inertia>
<ixx>3219</ixx>
<ixy>-0.43</ixy>
<ixz>-2.56</ixz>
<iyy>3219</iyy>
<iyz>3.37</iyz>
<izz>7.28</izz>
<ixx>3220.0</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>3220.0</iyy>
<iyz>0.0</iyz>
<izz>10.0</izz>
</inertia>
<fluid_added_mass>
<xx>160.0</xx>
<xy>0.0</xy>
<xz>0.0</xz>
<xp>0.0</xp>
<xq>0.0</xq>
<xr>0.0</xr>
<yy>160.0.0</yy>
<yz>0.0</yz>
<yp>0.0</yp>
<yq>0.0</yq>
<yr>0.0</yr>
<zz>0.0</zz>
<zp>0.0</zp>
<zq>0.0</zq>
<zr>0.0</zr>
<pp>0.0</pp>
<pq>0.0</pq>
<pr>0.0</pr>
<qq>0.0</qq>
<qr>0.0</qr>
<rr>0.0</rr>
</fluid_added_mass>
</inertial>
<visual name="visual_PTO">
<geometry>
Expand Down Expand Up @@ -177,16 +221,16 @@ pto_scale = pto_inner_radius / pto_stl_inner_radius
<link name="Piston">
<pose relative_to="PTO">0 0 @(piston_z_offset) 0 0 0</pose>
<inertial>
<mass>48</mass>
<pose>0 0 -2.57934 0 0 0</pose>
<mass>48.0</mass>
<pose>0 0 -2.58 0 0 0</pose>
<inertia>
<!-- TODO(chapulina) Get real values -->
<ixx>128</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>128</iyy>
<iyz>0</iyz>
<izz>0.0216</izz>
<!-- TODO(hamilton) Refine values -->
<ixx>100.0</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>100.0</iyy>
<iyz>0.0</iyz>
<izz>5.0</izz>
</inertia>
</inertial>
<visual name="visual_Piston">
Expand Down Expand Up @@ -345,16 +389,39 @@ pto_scale = pto_inner_radius / pto_stl_inner_radius
<link name="HeaveCone">
<pose relative_to="PistonBottom">0 0 -@(tether_length) 0 0 0</pose>
<inertial>
<pose>0 0 -1.25 0 0 0</pose>
<pose>0 0 -1.2 0 0 0</pose>
<mass>@(heave_total_mass - trefoil_mass)</mass>
<inertia>
<ixx>339.8</ixx>
<ixy>0.16</ixy>
<ixz>-0.29</ixz>
<iyy>343.73</iyy>
<iyz>0.33</iyz>
<izz>613.52</izz>
<ixx>340.0</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>340.0</iyy>
<iyz>0.0</iyz>
<izz>600.0</izz>
</inertia>
<fluid_added_mass>
<xx>780.0</xx>
<xy>0.0</xy>
<xz>0.0</xz>
<xp>0.0</xp>
<xq>0.0</xq>
<xr>0.0</xr>
<yy>780.0</yy>
<yz>0.0</yz>
<yp>0.0</yp>
<yq>0.0</yq>
<yr>0.0</yr>
<zz>@(mu_zz)</zz>
<zp>0.0</zp>
<zq>0.0</zq>
<zr>0.0</zr>
<pp>0.1</pp>
<pq>0.0</pq>
<pr>0.0</pr>
<qq>0.1</qq>
<qr>0.0</qr>
<rr>0.1</rr>
</fluid_added_mass>
</inertial>
<visual name="visual_HeaveCone">
<geometry>
Expand Down Expand Up @@ -382,16 +449,15 @@ pto_scale = pto_inner_radius / pto_stl_inner_radius
<link name="Trefoil">
<pose relative_to="HeaveCone">0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 -1.25 0 0 0</pose>
<!-- TODO(chapulina) Get real values -->
<pose>0 0 -1.2 0 0 0</pose>
<mass>@(trefoil_mass)</mass>
<inertia>
<ixx>10</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>10</iyy>
<iyz>0</iyz>
<izz>19.9</izz>
<izz>20.0</izz>
</inertia>
</inertial>
<visual name="visual_Trefoil">
Expand Down
3 changes: 2 additions & 1 deletion buoy_tests/launch/pc_commands_ros_feedback_py.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,8 @@


def generate_test_description():
return default_generate_test_description()
return default_generate_test_description(enable_rosbag=True,
rosbag_name='rosbag2_pc_cmds_py')


config = os.path.join(
Expand Down
3 changes: 2 additions & 1 deletion buoy_tests/launch/sc_pump_ros_feedback_py.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,8 @@


def generate_test_description():
return default_generate_test_description()
return default_generate_test_description(enable_rosbag=True,
rosbag_name='rosbag2_sc_pump_py')


class BuoySCPumpPyTest(BuoyPyTests):
Expand Down

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