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Add DopplerVelocityLogSystem plugin #1804

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merged 18 commits into from
Mar 8, 2023
Merged

Add DopplerVelocityLogSystem plugin #1804

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da0b9ac
Add DopplerVelocityLogSystem plugin
hidmic Nov 21, 2022
cd16bc8
Please cppcheck
hidmic Nov 23, 2022
f9f4213
Add DopplerVelocityLogSystem plugin tests
hidmic Dec 9, 2022
4b08667
Merge branch 'main' into hidmic/dvl
iche033 Feb 2, 2023
bdfe547
fix build and doxygen generation. Update doxygen, style
iche033 Feb 2, 2023
0cb2e4d
split tests, fix Bottom tracking test
iche033 Feb 3, 2023
2df4a98
remove unneeded code
iche033 Feb 3, 2023
fae98b1
more style fixes, fixing windows
iche033 Feb 3, 2023
4685c4f
fixing windows, disable tests on macos
iche033 Feb 6, 2023
edf0959
remove gz-sensors dep in core
iche033 Feb 8, 2023
fbd8783
fix model manipulator, model observer, dvl tests
iche033 Feb 14, 2023
ef04eb8
add include
iche033 Feb 14, 2023
ce79e44
remove unused var
iche033 Feb 15, 2023
2070591
fix ang vel for bottom tracking
iche033 Feb 15, 2023
c0ef18f
update todo
iche033 Feb 15, 2023
a91ff9e
fix retrieving model properties in test, ensure setworldstates is cal…
iche033 Feb 18, 2023
5112ee9
doxy
iche033 Feb 18, 2023
1740385
Merge branch 'main' into hidmic/dvl
iche033 Mar 8, 2023
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1 change: 1 addition & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -142,6 +142,7 @@ gz_find_package(gz-sensors8 REQUIRED
navsat

# rendering
dvl
rendering
lidar
gpu_lidar
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12 changes: 10 additions & 2 deletions include/gz/sim/components/Environment.hh
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Expand Up @@ -20,14 +20,14 @@

#include <memory>
#include <string>
#include <utility>

#include <gz/common/DataFrame.hh>
#include <gz/math/SphericalCoordinates.hh>
#include <gz/math/TimeVaryingVolumetricGrid.hh>

#include <gz/sim/components/Factory.hh>
#include <gz/sim/components/Component.hh>
#include <gz/sim/Export.hh>

namespace gz
{
Expand Down Expand Up @@ -61,7 +61,15 @@ namespace components
static std::shared_ptr<EnvironmentalData>
MakeShared(FrameT _frame, ReferenceT _reference,
ReferenceUnits _units = ReferenceUnits::RADIANS,
bool _ignoreTimeStep = false);
bool _ignoreTimeStep = false)
{
auto data = std::make_shared<EnvironmentalData>();
data->frame = std::move(_frame);
data->reference = _reference;
data->units = _units;
data->staticTime = _ignoreTimeStep;
return data;
}
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@iche033 hmm, so we are duplicating EnvironmentalData definition, in gz-sensors and here, to avoid the dependency?

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this introduces gz-sensors dependency in the core component of gz-sim. So far, only the gz systems (plugins) have dependency on gz-sensors, which are are loaded at run time

The general approach we've been taking is to add the common data structure in sdformat in use them in other gz libraries. It's possible to add this extra dependency but I think it needs some discussion. I made the change to try and get the PR in first.


/// \brief Environmental data frame.
FrameT frame;
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5 changes: 0 additions & 5 deletions src/CMakeLists.txt
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Expand Up @@ -32,10 +32,6 @@ set(comms_sources
comms/MsgManager.cc
)

set(component_sources
components/Environment.cc
)

set(gui_sources
${gui_sources}
PARENT_SCOPE
Expand Down Expand Up @@ -72,7 +68,6 @@ set (sources
${PROTO_PRIVATE_SRC}
${network_sources}
${comms_sources}
${component_sources}
)

set (gtest_sources
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35 changes: 0 additions & 35 deletions src/components/Environment.cc
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1 change: 1 addition & 0 deletions src/systems/CMakeLists.txt
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Expand Up @@ -110,6 +110,7 @@ add_subdirectory(contact)
add_subdirectory(camera_video_recorder)
add_subdirectory(detachable_joint)
add_subdirectory(diff_drive)
add_subdirectory(dvl)
# elevator system causes compile erros on windows
if (NOT WIN32)
add_subdirectory(elevator)
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10 changes: 10 additions & 0 deletions src/systems/dvl/CMakeLists.txt
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@@ -0,0 +1,10 @@
gz_add_system(dvl
SOURCES
DopplerVelocityLogSystem.cc
PUBLIC_LINK_LIBS
gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER}
PRIVATE_LINK_LIBS
gz-sensors${GZ_SENSORS_VER}::dvl
gz-sensors${GZ_SENSORS_VER}::rendering
)
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