Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Wave-Body Interaction from WAMIT Data #103

Merged
merged 280 commits into from
Mar 23, 2023
Merged

Wave-Body Interaction from WAMIT Data #103

merged 280 commits into from
Mar 23, 2023

Conversation

hamilton8415
Copy link
Collaborator

Pull request for free-surface hydrodynamics. Still WIP. Currently this plugin implements the linearized wave-radiation forces using WAMIT data that is read in from a file, and linearized buoyancy. The wave-exciting forces are also read from WAMIT but are not currently included as there's some work and testing to do there. Plenty of review needed, particularly in the manner that the WAMIT data is stored and read, among other items.

andermi and others added 30 commits August 23, 2022 17:49
@andermi
trying another interp; using eff maps from matlab
0487aac 
Signed-off-by: Michael Anderson <[email protected]>
@andermi
replaced interpolator; fixed tests after new efficiency maps
af87b95 
Signed-off-by: Michael Anderson <[email protected]>
@andermi
remove JustInterp; put limits on interpolation
b94db06 
Signed-off-by: Michael Anderson <[email protected]>
@andermi
fix pump in minutes
9f775b4 
Signed-off-by: Michael Anderson <[email protected]>
@hamilton8415
Debugged wave forcing, stable but not convincingly correct yet. Also …
2ab3a0b 
…added libgnuplot-iostream-dev to be installed for CIwq
@hamilton8415
Added gnuplot dependency to package.xml
c35ab63
@hamilton8415
Fixed error in pitch buoyancy in FS_Hydrodynamics.cpp
4228125
@hamilton8415
Have all wave forces in and working, still not seeing appropriate wav…
80d1681 
…e-damping in the rotational modes though, so that needs to be investigatedwq
@chapulina
Humble + Garden
5d59ce2 
Signed-off-by: Louise Poubel <[email protected]>
@chapulina
include order
c79deaf 
Signed-off-by: Louise Poubel <[email protected]>
@chapulina
more gz, uncrustify
9ca432e 
Signed-off-by: Louise Poubel <[email protected]>
@hamilton8415
Various debugging steps.
cf5f5f1
@andermi
move splinter to own package
4e8371f 
Signed-off-by: Michael Anderson <[email protected]>
@andermi
remove splinter from ehpto dir
27e11b8 
Signed-off-by: Michael Anderson <[email protected]>
@andermi
fix linters
973d81c 
Signed-off-by: Michael Anderson <[email protected]>
@andermi
add license and copy splinter meta to package after clone
850bcb1 
Signed-off-by: Michael Anderson <[email protected]>
@andermi
Merge branch 'main' into hamilton8415/fs_hydrodynamics
619e4ca
@quarkytale
Merge branch 'main' into chapulina/humble_garden
8f4b165 
Signed-off-by: Dharini Dutia <[email protected]>
@srmainwaring
Update time derivative of wave elevation (#90)
9edb915 
Signed-off-by: Rhys Mainwaring <[email protected]>

Signed-off-by: Rhys Mainwaring <[email protected]>
@quarkytale
ign-gz in ros_gz bridge
db712bc 
Signed-off-by: Dharini Dutia <[email protected]>
@quarkytale
Merge branch 'main' into chapulina/humble_garden
65018dd
@srmainwaring @quarkytale
Update to ROS2 Humble and Gazebo Garden
3aaac4e 
- Update library and namespaces for ign -> gz migration.
- Use `python -m em` rather than `empy` for macOS support.
- Update dependencies to ros_gz_bridge and ros_gz_sim

Signed-off-by: Rhys Mainwaring <[email protected]>
@quarkytale
updates after cherry-pick
be06857 
Signed-off-by: Dharini Dutia <[email protected]>
@quarkytale
fix cpplint
788beca 
Signed-off-by: Dharini Dutia <[email protected]>
@mjcarroll
gz.math -> gz.math7
6617da6 
Signed-off-by: Michael Carroll <[email protected]>
@mjcarroll
Merge branch 'main' into chapulina/humble_garden
966f331 
Signed-off-by: Michael Carroll <[email protected]>
@hamilton8415
Merge branch 'main' into hamilton8415/fs_hydrodynamics
af3dd55
@hamilton8415
Adjusted application of radiation forces while investigating WaveBody…
5907fc1 
…Interaction behaviors. No significant chnages made
@andermi
Merge branch 'main' into hamilton8415/motormode
b698bf4 
Signed-off-by: Michael Anderson <[email protected]>
@andermi
fix from merge
8cf3156 
Signed-off-by: Michael Anderson <[email protected]>
@andermi
Copy link
Collaborator

andermi commented Mar 15, 2023

I got things running again with the tests. I still need to update things to make the tests pass now, but at least they run

@hamilton8415
Copy link
Collaborator Author

great, thanks for catching the hardcoded path to my machine...

@hamilton8415
Copy link
Collaborator Author

I pushed a small change to reduce the verbosity of output from wave_body_interactions_pitch.cpp, and did a little code formatting. Linters and tests for these still passing.

andermi and others added 13 commits March 15, 2023 22:57
@andermi
cleaned up spring plugin; added ability to specify mean piston positi…
b0d527d 
…on directly

Signed-off-by: Michael Anderson <[email protected]>
@andermi
better variable name
77223f0 
Signed-off-by: Michael Anderson <[email protected]>
@andermi
fix pump tests; 3 still failing -- heaveonly and pitchonly hardcoded …
eaae323 
…coeffs, experiment comparison

Signed-off-by: Michael Anderson <[email protected]>
@andermi
added mean_piston_position to batching
49056b3 
Signed-off-by: Michael Anderson <[email protected]>
@andermi
handle x_mean_pos in model regen for tests
a585aef 
Signed-off-by: Michael Anderson <[email protected]>
@andermi
add comments for mean piston position in sdf template
165c97e 
Signed-off-by: Michael Anderson <[email protected]>
@hamilton8415
Fixed hard-coded paths in heave/pitch-only tests
be37418
@andermi
Merge branch 'hamilton8415/fs_hydrodynamics' into andermi/spring_mean…
f0490c1 
…_position
@andermi
match spring to experiment; fix tests
455e400 
Signed-off-by: Michael Anderson <[email protected]>
@andermi
debug sc commands test timeout
ad79ebf 
Signed-off-by: Michael Anderson <[email protected]>
@andermi
increasing timeout worked
4f98e09 
Signed-off-by: Michael Anderson <[email protected]>
@hamilton8415
Merge pull request #136 from osrf/andermi/spring_mean_position
bda0618 
Spring Mean Piston Position
@hamilton8415
Fixed waterplane bug
ae8a739
@hamilton8415
Copy link
Collaborator Author

hamilton8415 commented Mar 23, 2023 •
edited
Loading

I believe we are finally at the end-zone with this one. I ran a number of sims today and all worked as expected. I think we should merge into main and continue testing and comparing to our tutorials from there. I am going to be away for a bit, so feel free to merge this @andermi as far as I'm concerned. When this is merged, the analogous PR in buoy_entrypoint should be merged also so that the install instructions remain relevant.

@andermi andermi self-requested a review March 23, 2023 18:36
andermi
andermi approved these changes Mar 23, 2023
View reviewed changes
buoy_gazebo/src/IncidentWaves/IncidentWaves.cpp
};

gz::transport::Node node;
node.Request("/world/mbari_wec_world/set_pose", req, cb);
Copy link
Collaborator

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Good catch! I wonder if there's a way to grab the world name from the SDF or ECM so this doesn't happen again...

@andermi andermi merged commit f556d20 into main Mar 23, 2023
@andermi andermi deleted the hamilton8415/fs_hydrodynamics branch March 23, 2023 20:58
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@andermi andermi andermi approved these changes

Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.

Free surface hydrodynamics
6 participants
@hamilton8415 @srmainwaring @andermi @chapulina @quarkytale @mjcarroll