gz-sim: lrauv_control_demo.sdf

[azeey-test]

Configuration

• os: Any

Links

• Source

Process

Step 1 - Instructions work

Step 2 - Images (if there are any) match the result

[alesof]

Interested ✋🏼

[alesof]

Configuration

Running on Ubuntu 22.04 using the suggested docker setup. Gazebo version is 9.0.0~pre1.

Process

Step1: The simulation works but an error message is displayed:

[error] The use of added mass through this plugin is deprecated and willbe removed in Gazebo J* as this formulation has instabilities. We recommend using the SDF `<fluid_added_mass>` tag based method[http://sdformat.org/spec?ver=1.11&elem=link#inertial_fluid_added_mass]To get rid of this warning we recommend setting`<disable_added_mass> to true.

To test the simulation:

gz topic -t /model/tethys/joint/horizontal_fins_joint/0/cmd_pos -m gz.msgs.Double -p 'data: -0.5'
gz topic -t /model/tethys/joint/vertical_fins_joint/0/cmd_pos -m gz.msgs.Double -p 'data: -0.5'
gz topic -t /model/tethys/joint/propeller_joint/cmd_thrust -m gz.msgs.Double -p 'data: -10'

Opened a PR that includes the recommend setting, thus removing the warning message.

Image displaying the running simulation:

[arjo129]

So I'm going to downgrade the error to a warning.

I need to also update the model. However any change to hydrodynamics is a very time consuming process. We can update the model after release as this bug is not critical.

[arjo129]

Fixed warning by: gazebosim/gz-sim#2579 and ticketed model re-upload here: gazebosim/gz-sim#2575

Thanks for the help @alesof