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Adding viscous drag via hydrodynamics plugin #32

Merged
merged 19 commits into from
Jan 31, 2023
Merged

Adding viscous drag via hydrodynamics plugin #32

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685049c
hydrodynamics placeholder
quarkytale Apr 29, 2022
2a4f787
Merge branch 'main' into quarkytale/heave_cone_plugins
quarkytale May 4, 2022
7dcc22e
Merge branch 'main' into quarkytale/heave_cone_plugins
quarkytale May 5, 2022
cc89f2e
updated params
quarkytale May 19, 2022
ec65055
Merge branch 'main' into quarkytale/heave_cone_plugins
quarkytale May 23, 2022
d82ee8f
Merge branch 'main' into quarkytale/heave_cone_plugins
quarkytale Jun 10, 2022
b27fe4b
test playground for heave cone
quarkytale Jun 10, 2022
8060ac0
Merge branch 'main' into quarkytale/heave_cone_plugins
quarkytale Aug 19, 2022
528d9b0
tests
quarkytale Aug 19, 2022
683819c
updated test
quarkytale Aug 19, 2022
99d785f
Merge branch 'main' into quarkytale/heave_cone_plugins
quarkytale Nov 30, 2022
c2a4b4d
comparing models
quarkytale Nov 30, 2022
387bd3e
Merge branch 'main' into quarkytale/heave_cone_plugins
quarkytale Jan 9, 2023
4443521
Merge branch 'main' into quarkytale/heave_cone_plugins
quarkytale Jan 24, 2023
be34b09
test with new values
quarkytale Jan 24, 2023
d1da74a
correcting link names
quarkytale Jan 26, 2023
34e6fb4
adding drag to base model
quarkytale Jan 27, 2023
9457a3e
abs tags and disabling cmat
quarkytale Jan 30, 2023
db4bae8
fix typo and updated values
quarkytale Jan 30, 2023
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2 changes: 2 additions & 0 deletions buoy_description/models/mbari_wec/model.sdf
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Expand Up @@ -6,6 +6,7 @@
<uri>package://buoy_description/models/mbari_wec_base</uri>
</include>

<!-- Electro-Hydraulic PTO Plugin -->
<plugin filename="ElectroHydraulicPTO" name="buoy_gazebo::ElectroHydraulicPTO">
<PrismaticJointName>HydraulicRam</PrismaticJointName>
<PistonArea>1.375</PistonArea>
Expand Down Expand Up @@ -67,6 +68,7 @@
<P2>1212740</P2>
</plugin>

<!-- Adding Friction to PTO -->
<plugin filename="PTOFriction" name="buoy_gazebo::PTOFriction">
<PrismaticJointName>HydraulicRam</PrismaticJointName>
</plugin>
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42 changes: 42 additions & 0 deletions buoy_description/models/mbari_wec_base/model.sdf.em
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Expand Up @@ -463,5 +463,47 @@ pto_scale = pto_inner_radius / pto_stl_inner_radius
</axis>
</joint>

<!-- Viscous Drag for Buoy -->
<plugin filename="gz-sim-hydrodynamics-system"
name="gz::sim::systems::Hydrodynamics">
<link_name>Buoy</link_name>
<xUabsU>-430</xUabsU> <!-- Surge Quadratic Drag kg/m -->
<yVabsV>-430</yVabsV> <!-- Sway Quadratic Drag kg/m -->
<zWabsW>-3280</zWabsW> <!-- Heave Quadratic Drag kg/m -->
<kPabsP>-880</kPabsP> <!-- Roll Quadratic Drag kg m^2 -->
<mQabsQ>-880</mQabsQ> <!-- Pitch Quadratic Drag kg m^2 -->
<nRabsR>-50</nRabsR> <!-- Yaw Quadratic Drag kg m^2 -->
<disable_coriolis>true</disable_coriolis>
<disable_added_mass>true</disable_added_mass>
</plugin>

<!-- Viscous Drag for PTO -->
<plugin filename="gz-sim-hydrodynamics-system"
name="gz::sim::systems::Hydrodynamics">
<link_name>PTO</link_name>
<xUabsU>-1140</xUabsU> <!-- Surge Quadratic Drag kg/m -->
<yVabsV>-1140</yVabsV> <!-- Sway Quadratic Drag kg/m -->
<zWabsW>-50</zWabsW> <!-- Heave Quadratic Drag kg/m -->
<kPabsP>-195400</kPabsP> <!-- Roll Quadratic Drag kg m^2 -->
<mQabsQ>-195400</mQabsQ> <!-- Pitch Quadratic Drag kg m^2 -->
<nRabsR>-50</nRabsR> <!-- Yaw Quadratic Drag kg m^2 -->
<disable_coriolis>true</disable_coriolis>
<disable_added_mass>true</disable_added_mass>
</plugin>

<!-- Viscous Drag for Heave Cone -->
<plugin filename="gz-sim-hydrodynamics-system"
name="gz::sim::systems::Hydrodynamics">
<link_name>HeaveCone</link_name>
<xUabsU>-1580</xUabsU> <!-- Surge Quadratic Drag kg/m -->
<yVabsV>-1580</yVabsV> <!-- Sway Quadratic Drag kg/m -->
<zWabsW>-3900</zWabsW> <!-- Vertical Quadratic Drag kg/m: -3200 open, -3900 close -->
<kPabsP>-4620</kPabsP> <!-- Roll Quadratic Drag kg m^2 -->
<mQabsQ>-4620</mQabsQ> <!-- Pitch Quadratic Drag kg m^2 -->
<nRabsR>-50</nRabsR> <!-- Yaw Quadratic Drag kg m^2 -->
<disable_coriolis>true</disable_coriolis>
<disable_added_mass>true</disable_added_mass>
</plugin>

</model>
</sdf>
1 change: 1 addition & 0 deletions buoy_gazebo/worlds/mbari_wec.sdf
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Expand Up @@ -48,6 +48,7 @@
<include merge="true">
<uri>package://buoy_description/models/mbari_wec_ros</uri>
</include>

</model>

</world>
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251 changes: 251 additions & 0 deletions buoy_gazebo/worlds/test_viscous_drag.sdf
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@@ -0,0 +1,251 @@
<?xml version="1.0" ?>
<sdf version="1.8">
<world name="test_world">

<physics name="1ms" type="ignored">
<max_step_size>.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>

<!-- rely on world plugins from server.config -->
<gui fullscreen="0">
<plugin filename="MinimalScene" name="3D View">
<gz-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</gz-gui>

<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>21.5 -0.5 -0.6 0 0.4 3.14</camera_pose>
</plugin>

<!-- Plugins that add functionality to the scene -->
<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
<gz-gui>
<property key="state" type="string">floating</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="GzSceneManager" name="Scene Manager">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="InteractiveViewControl" name="Interactive view control">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="CameraTracking" name="Camera Tracking">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="MarkerManager" name="Marker manager">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="SelectEntities" name="Select Entities">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<!-- Translate / rotate -->
<plugin filename="TransformControl" name="Transform control">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">250</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#777777</property>
</gz-gui>

<!-- disable legacy features used to connect this plugin to GzScene3D -->
<legacy>false</legacy>
</plugin>

<!-- World control -->
<plugin filename="WorldControl" name="World control">
<gz-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</gz-gui>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<use_event>true</use_event>

</plugin>

<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<gz-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</gz-gui>

<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
</plugin>

<plugin filename="TransportPlotting" name="Transport Plotting">
<gz-gui>
<property key="state" type="string">docked</property>
</gz-gui>
</plugin>

<plugin filename="TopicViewer" name="Topic Viewer">
<gz-gui>
<property key="state" type="string">docked</property>
</gz-gui>
</plugin>

</gui>

<light name="sun" type="directional">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>

<model name="water_plane">
<static>true</static>
<link name="link">
<visual name="water_plane">
<geometry>
<plane>
<size>100 100</size>
<normal>0 0 1</normal>
</plane>
</geometry>
<material>
<ambient>0 0 1 0.5</ambient>
<diffuse>0 0 1 0.5</diffuse>
<specular>0 0 1 0.5</specular>
</material>
</visual>
</link>
</model>

<model name="MBARI_WEC_ROS">
<pose relative_to="world">0 -5 -2 0 0 0</pose>

<include merge="true">
<uri>package://buoy_description/models/mbari_wec_ros</uri>
</include>

<!-- Viscous Drag for Buoy -->
<plugin filename="gz-sim-hydrodynamics-system"
name="gz::sim::systems::Hydrodynamics">
<link_name>Buoy</link_name>
<xUabsU>-430</xUabsU> <!-- Surge Quadratic Drag kg/m -->
<yVabsV>-430</yVabsV> <!-- Sway Quadratic Drag kg/m -->
<zWabsW>-3280</zWabsW> <!-- Heave Quadratic Drag kg/m -->
<kPabsP>-880</kPabsP> <!-- Roll Quadratic Drag kg m^2 -->
<mQabsQ>-880</mQabsQ> <!-- Pitch Quadratic Drag kg m^2 -->
<nRabsR>-50</nRabsR> <!-- Yaw Quadratic Drag kg m^2 -->
<disable_coriolis>true</disable_coriolis>
<disable_added_mass>true</disable_added_mass>
</plugin>

<!-- Viscous Drag for PTO -->
<plugin filename="gz-sim-hydrodynamics-system"
name="gz::sim::systems::Hydrodynamics">
<link_name>PTO</link_name>
<xUabsU>-1140</xUabsU> <!-- Surge Quadratic Drag kg/m -->
<yVabsV>-1140</yVabsV> <!-- Sway Quadratic Drag kg/m -->
<zWabsW>-50</zWabsW> <!-- Heave Quadratic Drag kg/m -->
<kPabsP>-195400</kPabsP> <!-- Roll Quadratic Drag kg m^2 -->
<mQabsQ>-195400</mQabsQ> <!-- Pitch Quadratic Drag kg m^2 -->
<nRabsR>-50</nRabsR> <!-- Yaw Quadratic Drag kg m^2 -->
<disable_coriolis>true</disable_coriolis>
<disable_added_mass>true</disable_added_mass>
</plugin>

<!-- Viscous Drag for Heave Cone -->
<plugin filename="gz-sim-hydrodynamics-system"
name="gz::sim::systems::Hydrodynamics">
<link_name>HeaveCone</link_name>
<xUabsU>-1580</xUabsU> <!-- Surge Quadratic Drag kg/m -->
<yVabsV>-1580</yVabsV> <!-- Sway Quadratic Drag kg/m -->
<zWabsW>-3900</zWabsW> <!-- Vertical Quadratic Drag kg/m: -3200 open, -3900 close -->
<kPabsP>-4620</kPabsP> <!-- Roll Quadratic Drag kg m^2 -->
<mQabsQ>-4620</mQabsQ> <!-- Pitch Quadratic Drag kg m^2 -->
<nRabsR>-50</nRabsR> <!-- Yaw Quadratic Drag kg m^2 -->
<disable_coriolis>true</disable_coriolis>
<disable_added_mass>true</disable_added_mass>
</plugin>

</model>

</world>
</sdf>