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Fluid density #496

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Fluid density #496

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f0a0ad0
require wave_gazebo_plugins to use c++17
acxz Jul 13, 2022
4f65321
require usv_gazebo_plugins to use c++17
acxz Jul 13, 2022
3baba7b
use consistant value of 1000 kg/m^3 for density of water
acxz Aug 3, 2022
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4 changes: 2 additions & 2 deletions usv_gazebo_plugins/CMakeLists.txt
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Expand Up @@ -19,8 +19,8 @@ catkin_package(
CATKIN_DEPENDS message_runtime gazebo_dev roscpp wave_gazebo_plugins
)

# Plugins require c++11
set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
# Plugins require c++17
set(CMAKE_CXX_FLAGS "-std=c++17 ${CMAKE_CXX_FLAGS}")

include_directories( include
${catkin_INCLUDE_DIRS}
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2 changes: 1 addition & 1 deletion usv_gazebo_plugins/include/usv_gazebo_plugins/usv_gazebo_dynamics_plugin.hh
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Expand Up @@ -40,7 +40,7 @@ namespace gazebo
/// <boatArea>: Horizontal surface area [m^2]. Default value is 0.48.
/// <boatLength>: Boat length [m]. Default value is 1.35.
/// <boatWidth>: Boat width [m]. Default value is 1.
/// <waterDensity>: Water density [kg/m^3]. Default value is 997.7735.
/// <waterDensity>: Water density [kg/m^3]. Default value is 1000.
/// <waterLevel>: Water height [m]. Default value is 0.5.
/// <xDotU>: Added mass coeff, surge.
/// <yDotV>: Added mass coeff, sway.
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2 changes: 1 addition & 1 deletion usv_gazebo_plugins/src/buoyancy_gazebo_plugin.cc
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Expand Up @@ -105,7 +105,7 @@ std::string BuoyancyObject::Disp()

/////////////////////////////////////////////////
BuoyancyPlugin::BuoyancyPlugin()
: fluidDensity(997),
: fluidDensity(1000),
fluidLevel(0.0),
linearDrag(0.0),
angularDrag(0.0),
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2 changes: 1 addition & 1 deletion usv_gazebo_plugins/src/usv_gazebo_dynamics_plugin.cc
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Expand Up @@ -88,7 +88,7 @@ void UsvDynamicsPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
}

this->waterLevel = this->SdfParamDouble(_sdf, "waterLevel" , 0.5);
this->waterDensity = this->SdfParamDouble(_sdf, "waterDensity", 997.7735);
this->waterDensity = this->SdfParamDouble(_sdf, "waterDensity", 1000);
this->paramXdotU = this->SdfParamDouble(_sdf, "xDotU" , 5);
this->paramYdotV = this->SdfParamDouble(_sdf, "yDotV" , 5);
this->paramZdotW = this->SdfParamDouble(_sdf, "zDotW" , 0.1);
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2 changes: 1 addition & 1 deletion wamv_gazebo/urdf/dynamics/wamv_gazebo_dynamics_plugin.xacro
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Expand Up @@ -7,7 +7,7 @@
<bodyName>${namespace}/base_link</bodyName>
<!-- Must be same as the ocean model!-->
<waterLevel>0</waterLevel>
<waterDensity>997.8</waterDensity>
<waterDensity>1000</waterDensity>
<!-- Added mass -->
<xDotU>0.0</xDotU>
<yDotV>0.0</yDotV>
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16 changes: 4 additions & 12 deletions wave_gazebo_plugins/CMakeLists.txt
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Expand Up @@ -2,21 +2,13 @@ cmake_minimum_required(VERSION 2.8.3)
project(wave_gazebo_plugins)

###############################################################################
# Compile as C++11, supported in ROS Kinetic and newer

#set(CMAKE_CXX_STANDARD 11)
#set(CMAKE_CXX_STANDARD_REQUIRED ON)

# For this package set as C++14
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX14)
set(CMAKE_CXX_FLAGS "-std=c++14")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "-std=c++0x")
CHECK_CXX_COMPILER_FLAG("-std=c++17" COMPILER_SUPPORTS_CXX17)
if(COMPILER_SUPPORTS_CXX17)
add_compile_options(-std=c++17)
else()
message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler.")
message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++17 support. Please use a different C++ compiler.")
endif()

# Set policy for CMake 3.1+. Use OLD policy to let FindBoost.cmake, dependency
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2 changes: 1 addition & 1 deletion wave_gazebo_plugins/include/wave_gazebo_plugins/PhysicalConstants.hh
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Expand Up @@ -43,7 +43,7 @@ namespace asv

/// \brief Density of water.
///
/// \return 998.6 [kg m-3].
/// \return 1000 [kg m-3].
public: static double WaterDensity();

/// \brief Kinematic viscosity of water at 18 dgree C.
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2 changes: 1 addition & 1 deletion wave_gazebo_plugins/src/PhysicalConstants.cc
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Expand Up @@ -34,7 +34,7 @@ namespace asv
/////////////////////////////////////////////////////////////////////////////
double PhysicalConstants::WaterDensity()
{
return 998.6;
return 1000.;
}

/////////////////////////////////////////////////////////////////////////////
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