diff --git a/.github/scripts/macos_build.sh b/.github/scripts/macos_build.sh index 20b62020..9ff439b4 100755 --- a/.github/scripts/macos_build.sh +++ b/.github/scripts/macos_build.sh @@ -13,4 +13,4 @@ export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/usr/local/opt/qt@5 # Python scripts installed with: `pip3 install --user ` export PATH=$PATH:$HOME/Library/Python/3.11/bin -colcon build --symlink-install --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_TESTING=ON -DCMAKE_CXX_STANDARD=17 -DCMAKE_MACOSX_RPATH=FALSE -DCMAKE_INSTALL_NAME_DIR=$(pwd)/install/lib +colcon build --symlink-install --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_TESTING=ON -DCMAKE_CXX_STANDARD=17 -DCMAKE_MACOSX_RPATH=FALSE -DCMAKE_INSTALL_NAME_DIR=$(pwd)/install/lib -DHIGHFIVE_USE_EIGEN=ON diff --git a/.github/workflows/ubuntu-jammy-ci.yml b/.github/workflows/ubuntu-jammy-ci.yml index 0c90bb3e..b18bd1f7 100644 --- a/.github/workflows/ubuntu-jammy-ci.yml +++ b/.github/workflows/ubuntu-jammy-ci.yml @@ -38,7 +38,7 @@ jobs: - name: Build Wave Sim run: | - colcon build --symlink-install --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_CXX_STANDARD=17 -DBUILD_TESTING=ON + colcon build --symlink-install --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_CXX_STANDARD=17 -DBUILD_TESTING=ON -DHIGHFIVE_USE_EIGEN=ON - name: Test Wave Sim run: | diff --git a/AddedMass.md b/AddedMass.md new file mode 100644 index 00000000..736e031f --- /dev/null +++ b/AddedMass.md @@ -0,0 +1,185 @@ +# Gazebo / DART inertia conversion + +An explanation of the Gazebo to DART inertial conversion and the different +conventions used by each system. The conclusion is that there is a missing +term when populating the DART spatial tensor with added mass because the +moments of inertia are taken about different axis. + +## Drake labelling conventions + +- https://drake.mit.edu/doxygen_cxx/group__multibody__spatial__pose.html +- https://drake.mit.edu/doxygen_cxx/group__multibody__spatial__inertia.html + +### Frame labels + +- `W` - world frame. +- `B` - body frame. +- `Bcm` - body CoM frame. + +### Point labels + +- `Bo` - body origin. +- `Bcm` - body center of mass. + +### Pose + +- `X_WB` - the pose of the body frame `B` in the world frame `W`. +- `X_BBcm` - the pose of the body CoM frame `Bcm` in the body frame `B`. + + +### Inertia matrix + +The inertia matrix, taken about a point `P`, expressed in frame `F`. + +- `I_BBcm_Bcm` - inertia matrix of body `B` about the body center of mass `Bcm` in frame `Bcm` +- `I_BBcm_B` - inertia matrix of body `B` about the body center of mass `Bcm` in frame `B` +- `I_BBo_B` - inertia matrix of body `B` about the body origin `Bo` in frame `B` + +### Position vectors + +- `c_BoBcm_B` position vector from the body origin `Bo` to the body center of mass `Bcm` in the body frame `B`. + + +## Gazebo inertial object + +The SDF documentation http://sdformat.org/spec?ver=1.9&elem=link#inertial_inertia for the `` element states: + + +> Description: This link's moments of inertia ixx, iyy, izz and products of inertia ixy, ixz, iyz about Co +> (the link's center of mass) for the unit vectors Ĉx, Ĉy, Ĉᴢ fixed in the center-of-mass-frame C. + +This means that the object `gz::math::MassMatrix3` contains: + +- `m` - the scalar mass. +- `I_BBcm_Bcm` - inertia matrix of body `B` about the body center of mass `Bcm` in frame `Bcm`. + +This is used to construct the object `gz::math::Inertial` which is the inertial taken about point `Bcm` +for body `B` in frame `F`. Since the pose from SDFFormat is `X_BBcm`, the object stores internally: + +- `m` +- `I_BBcm_Bcm` +- `X_BBcm` + +The functions return the following: + +- `MassMatrix -> (m, I_BBcm_Bcm)` +- `Pose -> (X_BBcm)` +- `Moi -> (I_BBcm_B = X_BBcm.R * I_BBcm_Bcm * X_BBcm.R^T)` + +The key point to note is that when accessing the the moment of inertia it is transformed +to the body frame `B` but is taken about a point located at the CoM `P = Bcm`. + +## DART spatial tensor + +The Gazebo function we are interested in is: `gz::physics::dartsim::SDFFeatures::ConstructSdfLink` +where `gz::math::Inertial` is translated into `dart::dynamics::Inertia`. + +### 1. First examine the case when there is no fluid added mass: + +```c++ + const gz::math::Inertiald &sdfInertia = _sdfLink.Inertial(); + bodyProperties.mInertia.setMass(sdfInertia.MassMatrix().Mass()); + + const Eigen::Matrix3d I_link = math::eigen3::convert(sdfInertia.Moi()); + + bodyProperties.mInertia.setMoment(I_link); + + const Eigen::Vector3d localCom = + math::eigen3::convert(sdfInertia.Pose().Pos()); + + bodyProperties.mInertia.setLocalCOM(localCom); +``` + +Break down what is going on: + +- Set `m` - the scalar mass `m`. +- Set `I_BBcm_B` - the moment of inertia of the body `B`, taken about the body CoM `Bcm` in frame `B`. +- Set `c_BoBcm_B` - position vector from the body origin `Bo` to the body center of mass `Bcm` in the body frame `B`. + +From these inputs DART, calculates the spatial tensor for rigid body rotations about the **body origin** `Bo`. + +This is the spatial inertial tensor from Roy Featherstone, Rigid Body Dynamics Algorithms, §2.13, p33, Eq(2.63) Springer, 2008. Internally DART computes the spatial tensor to have the following elements: + +- `TL = I_BBo_B = I_BBcm_B + m * cx * cx^T` +- `TR = m * cx` +- `BL = m * cx^T` +- `BR = m * Identity(3)` + +where `cx` is the skew-symmetric operator created from `c_BoBcm_B`. + +Compare this to the definition for the Gazebo body matrix returned by: `gz::math::Inertial::BodyMatrix`: + +- `BR = I_BBcm_B +- `BL = m * cx` +- `TR = m * cx^T` +- `TL = m * Identity(3)` + +which is for rigid body rotations about the **body center of mass** `Bm`. + +Now in this case, the different convention for the axis of rotation does not matter because Gazebo does not use +the `BodyMatrix` function to set the DART spatial inertial tensor, and the change of axis is calculated internally +by DART. However this is not the case when added mass is considered. + +### 2. With fluid added mass + +In this case the DART spatial inertial tensor is first calculated as in case 1., then a spatial inertial tensor +for the fluid added mass is calculated and the sum of the two is set using +`dart::dynamics::Inertia::setSpatialTensor`: + +```c++ + bodyProperties.mInertia.setSpatialTensor( + bodyProperties.mInertia.getSpatialTensor() + + math::eigen3::convert(featherstoneMatrix) +``` + +So the important note here is that the featherstoneMatrix must be for rotations +about the body orgin `Bo` and with respect to the body frame `B`. + + +While not clearly documented in the Gazebo class, it is suggested by the function: + +```c++ + /// \brief Spatial mass matrix, which includes the body's inertia, as well + /// as the inertia of the fluid that is dislocated when the body moves. + /// The matrix is expressed in the object's frame F, not to be confused + /// with the center of mass frame Bi. + /// \return The spatial mass matrix. + /// \sa BodyMatrix + /// \sa FluidAddedMass + public: Matrix6 SpatialMatrix() const + { + return this->addedMass.has_value() ? + this->BodyMatrix() + this->addedMass.value() : this->BodyMatrix(); + } +``` + +that the Gazebo fluid added mass is expected to be computed in the body frame `B` for rotations about +the body center of mass `Bcm` (because the quantities are being summed, and this is consistent with +the other interfaces to this class that return moment of intertia etc.) + +## Conclusion + +The above suggests that there is a term missing in the current calculation of the featherstone matrix +in `gz::physics::dartsim::SDFFeatures::ConstructSdfLink` to account for the change of axis +from `Bcm` to `Bo`. + +For fluid added mass the mass matrix is not diagonal with equal entries, so we can't calculate +`m * cx * cx^T` as for the inertial term. My suggestion is to use: + +``` +I_BBo_B = I_BBcm_B + cx * M * cx^T +``` + +and deduce `CMCT = cx * M * cx^T` using: + +```c++ + auto M = sdfInertia.FluidAddedMass().value().Submatrix( + math::Matrix6d::TOP_LEFT); + + auto CM = sdfInertia.FluidAddedMass().value().Submatrix( + math::Matrix6d::BOTTOM_LEFT); + + auto invM = M.Inverse(); + auto C = CM * invM; + auto CMCT = CM * C.Transposed(); +``` \ No newline at end of file diff --git a/LinearWaveBodyModel.md b/LinearWaveBodyModel.md new file mode 100644 index 00000000..627ff584 --- /dev/null +++ b/LinearWaveBodyModel.md @@ -0,0 +1,362 @@ +# Linear potential wave-body model + +## Overview + +We would like to combine the non-linear hydrostatic restoring force model used in asv_wave_sim with a linear potential flow wave-body interaction model. + +The initial application is to buoys and other structures that satisfy the requirement that the displacements about an initial condition are expected to be small. However some of the features may be useful for surface vehicles, in particular the wave radiation damping and added mass contributions from the linear model may provide a better mechanism for damping, particularly for larger / more massive vessels than the current model. + +## Approach + +The linear wave-body model resolves the interaction into a number of different forces and the way these are incorporated in the simulation differs depending on the type of waves. + +### Forces + +- Linear hydrostatic buoyancy +- Linear hydrostatic restoring forces +- Wave radiation damping +- Wave radiation added mass +- Wave excitation + +### Waves models + +- No waves (decay tests) +- Regular waves, single frequency +- Regular waves, multi-frequency +- Random waves, multi-frequency (FFT methods) + +## Additional dependencies + +### HDF5 reader + +The plugin can load BEM data generated by WEC-Sim from hdf5 files. We use +[HighFive](https://github.com/BlueBrain/HighFive) to read the data, which +introduces an additional dependency. The easiest way to satsify this is to +clone [HighFive](https://github.com/BlueBrain/HighFive) into the project +workspace: + +``` +cd ./gz_waves_ws/src +git clone https://github.com/BlueBrain/HighFive.git +``` + +Because we use [Eigen](https://eigen.tuxfamily.org/index.php?title=Main_Page) +to store and access the coefficients, the build command must be modified +slightly: + +```zsh +colcon build --symlink-install --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_TESTING=ON -DCMAKE_CXX_STANDARD=17 -DCMAKE_MACOSX_RPATH=FALSE -DCMAKE_INSTALL_NAME_DIR=$(pwd)/install/lib -DHIGHFIVE_USE_EIGEN=ON --packages-select gz-waves1 +``` + +where the flag `DHIGHFIVE_USE_EIGEN` allows the hdf5 datasets to be read into +Eigen objects directly. + +### ROS2 nodes + +There is an extra project `gz_waves_bridge` that contains a Node and +launch file for debugging and analysing the forces and pose of a body +using the plugin. This project depends on ROS2 Humble, Gazebo Garden +and the additional packages: + +- `gz-sim7` +- `ros_gz_bridge` +- `ros_gz_gazebo` + +Run the ROS2 nodes for the ellipsoid example using: + +```zsh +ros2 launch gz_waves_bridge ellipsoid_buoy.launch.py +``` + + + +## WEC-Sim Review + +WEC-Sim will be used to benchmark our calculations. The WEC-Sim Simulink +model has a number of variant subsystems that implement alternative +modelling approaches: + +Figure. WEC-Sim simulink model overview. +``` +Rigid Body +├── Hydrodynamic Body +│ ├── Hydrostatic Restoring Force Calculation +│ │ └── Linear and Nonlinear Restoring Force Variant Subsystem +│ │ │── Linear Hydrostatic Restoring Force +│ │ │ └── Net Buoyancy Force +│ │ └── Nonlinear Hydrostatic Restoring Force +│ │ +│ ├── Wave Diffraction and Excitation Force Calculation +│ │ ├── Linear Wave Excitation Force Variant Subsystem +│ │ │ ├── Irregular Wave Excitation Force +│ │ │ ├── Irregular Wave Nonlinear Yaw +│ │ │ ├── No Wave Excitation Force +│ │ │ ├── Regular Wave Excitation Force +│ │ │ ├── Regular Wave Nonlinear Yaw +│ │ │ └── User Defined Wave Excitation Force +│ │ └── Nonlinear FK Force Variant Subsystem +│ │ ├── No Nonlinear Froude Krylov Force +│ │ └── With Nonlinear Froude Krylov Force +│ │ +│ ├── Wave Radiation Force Calculation +│ │ └── SI CI and Constant-Damping Variant Subsystem +│ │ ├── Constant Coefficients +│ │ ├── Convolution Integral Calculation +│ │ └── State-Space Calculation +│ │ +│ ├── Morrison Element and Viscous Damping Force Calculation +│ ├── Additional Linear Damping Force Calculation +│ ├── Yaw Force Transforms +│ └── Yaw Kinematic Transforms +│ +├── Non-Hydro Body +└── Drag Body +``` + +Figure. WEC-Sim data model. + +```bash +workspace +├── body +│ ├── centerBuoyancy [3] +│ ├── centerGravity [3] +│ ├── dof +│ ├── excitationIRF [] +│ ├── geometryFile +│ ├── h5File +│ ├── hydroStiffness [6, 6] +│ ├── inertia [3] +│ ├── initial +│ │ ├── displacement [3] +│ │ ├── axis [3] +│ │ └── angle +│ ├── largeXYDisplacement +│ ├── linearDamping [6, 6] +│ ├── mass +│ ├── meanDrift +│ ├── morrisonElement +│ ├── name +│ ├── nonHydro +│ ├── nonLinearHydro +│ ├── quadDrag +│ ├── paraView +│ ├── viz +│ ├── volume +│ ├── yaw +│ ├── dofStart +│ ├── dofEnd +│ ├── hydroData +│ │ ├── simulation_parameters +│ │ │ ├── scaled +│ │ │ ├── direction +│ │ │ ├── waterDepth +│ │ │ ├── w [1, 101] +│ │ │ └── T [1, 101] +│ │ ├── properties +│ │ │ ├── name +│ │ │ ├── number +│ │ │ ├── centerGravity [3] +│ │ │ ├── centerBuoyancy [3] +│ │ │ ├── volume +│ │ │ ├── dof +│ │ │ ├── dofStart +│ │ │ └── dofEnd +│ │ └── hydro_coeffs +│ │ ├── linear_restoring_stiffness [6, 6] +│ │ ├── excitation +│ │ │ ├── re [6, 1, 101] +│ │ │ ├── im [6, 1, 101] +│ │ │ ├── fk_re [6, 1, 101] +│ │ │ ├── fk_im [6, 1, 101] +│ │ │ ├── sc_re [6, 1, 101] +│ │ │ ├── sc_im [6, 1, 101] +│ │ │ └── impulse_repsonse_fun +│ │ │ ├── f [6, 1, 1001] +│ │ │ └── t [1001, 1] +│ │ ├── added_mass +│ │ │ ├── all [6, 6, 101] +│ │ │ └── inf_freq [6, 6] +│ │ ├── radiation_damping +│ │ │ ├── all [6, 6, 101] +│ │ │ ├── impulse_repsonse_fun +│ │ │ │ ├── K [6, 6, 1001] +│ │ │ │ └── t [1001, 1] +│ │ │ └── state_space +│ │ │ ├── it [6, 6] +│ │ │ ├── A +│ │ │ ├── B +│ │ │ ├── C +│ │ │ └── D +│ │ └── mean_drift [6, 1, 101] +│ ├── b2bDOF +│ ├── hydroForce # constant force coeffs used in the calc +│ │ ├── linearHydroRestCoeff [6, 6] +│ │ ├── quadDrag [6, 6] +│ │ ├── linearDamping [6, 6] +│ │ ├── fExt +│ │ │ ├── re [6] +│ │ │ └── im [6] +│ │ ├── fkExt +│ │ │ ├── re [6] +│ │ │ └── im [6] +│ │ ├── fExtFK +│ │ │ ├── re [6] +│ │ │ └── im [6] +│ │ ├── fExtSc +│ │ │ ├── re [6] +│ │ │ └── im [6] +│ │ ├── fAddedMass [6, 6] +│ │ ├── fDamping [6, 6] +│ │ ├── totDOF [6, 6] +│ │ └── storage +│ │ ├── mass +│ │ ├── inertia [3] +│ │ └── hydroForce_AddedMass [6, 6] +│ ├── massCalcMethod +│ ├── number +│ ├── total +│ └── geometry +├── constraint +├── hydro # raw data loaded from the h5 file +│ ├── code +│ ├── file +│ ├── body +│ ├── Nb +│ ├── dof +│ ├── cg [3] +│ ├── cb [3] +│ ├── Vo +│ ├── rho +│ ├── g +│ ├── h +│ ├── Nf +│ ├── Nh +│ ├── w [101, 1] +│ ├── T [101, 1] +│ ├── theta +│ ├── Khs [6, 6] +│ ├── A [6, 6, 101] +│ ├── B [6, 6, 101] +│ ├── fk_re [6, 1, 101] +│ ├── fk_im [6, 1, 101] +│ ├── fk_ma [6, 1, 101] +│ ├── fk_ph [6, 1, 101] +│ ├── sc_re [6, 1, 101] +│ ├── sc_im [6, 1, 101] +│ ├── sc_ma [6, 1, 101] +│ ├── sc_ph [6, 1, 101] +│ ├── ex_re [6, 1, 101] +│ ├── ex_im [6, 1, 101] +│ ├── ex_ma [6, 1, 101] +│ ├── ex_ph [6, 1, 101] +│ ├── Ainf [6, 6] +│ ├── ra_K [6, 6, 1001] +│ ├── ra_t [1, 1001] +│ ├── ra_w [1, 1001] +│ ├── ss_A +│ ├── ss_B +│ ├── ss_C +│ ├── ss_D +│ ├── ss_K +│ ├── ss_conv +│ ├── ss_R2 +│ ├── ss_O +│ ├── ex_K [6, 1, 1001] +│ ├── ex_t [1, 1001] +│ └── ex_w [1, 1001] +├── output +├── outputFile +├── simu +│ ├── ... +│ ├── gravity +│ ├── ... +│ ├── rampTime +│ ├── ... +│ ├── rho +│ └── ... +└── waves + ├── bem + │ ├── option + │ ├── count [] + │ ├── frequency [1, 101] + │ └── range [1, 101] + ├── current + ├── direction + ├── ... + ├── height + ├── ... + ├── period + ├── phaseSeed + ├── ... + ├── waterDepth + ├── spread + ├── amplitude + ├── deepWater + ├── dOmega + ├── omega + ├── phase + ├── ... + ├── type + ├── ... + └── waveNumber +``` + +## Questions + +### Hydrostatics + + 1. 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The MBARI-WEC: a power source for ocean sensing, Journal of Ocean Engineering and Marine Energy (2021) 7:189–200 https://doi.org/10.1007/s40722-021-00197-9. https://link.springer.com/content/pdf/10.1007/s40722-021-00197-9.pdf, retrieved 2022-10-05 + diff --git a/gz-waves-models/models/ellipsoid_buoy/config/hydrodata/ellipsoid_f5244.h5 b/gz-waves-models/models/ellipsoid_buoy/config/hydrodata/ellipsoid_f5244.h5 new file mode 100644 index 00000000..4439765b Binary files /dev/null and b/gz-waves-models/models/ellipsoid_buoy/config/hydrodata/ellipsoid_f5244.h5 differ diff --git a/gz-waves-models/models/ellipsoid_buoy/meshes/ellipsoid.dae b/gz-waves-models/models/ellipsoid_buoy/meshes/ellipsoid.dae new file mode 100644 index 00000000..5aefa39b --- /dev/null +++ b/gz-waves-models/models/ellipsoid_buoy/meshes/ellipsoid.dae @@ -0,0 +1,59 @@ + + + + + Blender User + Blender 2.93.6 commit date:2021-11-16, commit time:14:54, hash:c842a90e2fa1 + + 2022-09-14T16:15:52 + 2022-09-14T16:15:52 + + Z_UP 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Rhys Mainwaring + rhys.mainwaring@me.com + + + + Test ellipsoid used in the WEC-Sim non-linear hydrodynamics example. + http://wec-sim.github.io/WEC-Sim/master/user/advanced_features.html#nonlinear-buoyancy-and-froude-krylov-excitation + + "The body tested in the study is an ellipsoid with a + cross-section characterized by semi-major and -minor axes of 5.0 m and 2.5 m + in the wave propagation and normal directions, respectively. + The ellipsoid is at its equilibrium position with its origin located + at the mean water surface. The mass of the body is then set to 1.342×105 kg, + and the center of gravity is located 2 m below the origin." + + Notes: + The mesh from: + + https://github.com/WEC-Sim/WEC-Sim_Applications/blob/master/Nonlinear_Hydro/geometry/elipsoid.stl + + has the origin at the centre of mass which explains the pose offsets in + the visual and collision elements. + + + diff --git a/gz-waves-models/models/ellipsoid_buoy/model.sdf b/gz-waves-models/models/ellipsoid_buoy/model.sdf new file mode 100644 index 00000000..ef5d78f2 --- /dev/null +++ b/gz-waves-models/models/ellipsoid_buoy/model.sdf @@ -0,0 +1,51 @@ + + + + 0 0 0 0 0 0 + + + 0 0 -2.0 0 0 0 + + + models://ellipsoid_buoy/meshes/ellipsoid.stl + + + + 1 0 0 1 + 1 0 0 1 + 0.8 0.8 0.8 1 + + + + 0 0 -2.0 0 0 0 + + + models://ellipsoid_buoy/meshes/ellipsoid.stl + + + + + 0 0 -2.0 0 0 0 + 134200 + + 838750 + 0.0 + 0.0 + 838750 + 0.0 + 1342000 + + + + + + diff --git a/gz-waves-models/models/mbari_buoy/config/hydrodata/BuoyA5.1 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file mode 100644 index 00000000..c2bc2174 Binary files /dev/null and b/gz-waves-models/models/mbari_buoy/meshes/buoy_float.stl differ diff --git a/gz-waves-models/models/mbari_buoy/meshes/buoy_float_collision_wp_f1436.stl b/gz-waves-models/models/mbari_buoy/meshes/buoy_float_collision_wp_f1436.stl new file mode 100644 index 00000000..755e8fac Binary files /dev/null and b/gz-waves-models/models/mbari_buoy/meshes/buoy_float_collision_wp_f1436.stl differ diff --git a/gz-waves-models/models/mbari_buoy/meshes/buoy_float_collision_wp_f316.stl b/gz-waves-models/models/mbari_buoy/meshes/buoy_float_collision_wp_f316.stl new file mode 100644 index 00000000..40412d9a Binary files /dev/null and b/gz-waves-models/models/mbari_buoy/meshes/buoy_float_collision_wp_f316.stl differ diff --git a/gz-waves-models/models/mbari_buoy/meshes/buoy_float_collision_wp_f5548.stl b/gz-waves-models/models/mbari_buoy/meshes/buoy_float_collision_wp_f5548.stl new file mode 100644 index 00000000..5cf52697 Binary files /dev/null and b/gz-waves-models/models/mbari_buoy/meshes/buoy_float_collision_wp_f5548.stl differ diff --git a/gz-waves-models/models/mbari_buoy/meshes/heave_cone.stl b/gz-waves-models/models/mbari_buoy/meshes/heave_cone.stl new file mode 100644 index 00000000..0c2ea4af Binary files /dev/null and b/gz-waves-models/models/mbari_buoy/meshes/heave_cone.stl differ diff --git a/gz-waves-models/models/mbari_buoy/model.config b/gz-waves-models/models/mbari_buoy/model.config new file mode 100644 index 00000000..27756522 --- /dev/null +++ b/gz-waves-models/models/mbari_buoy/model.config @@ -0,0 +1,33 @@ + + + MBARI Buoy + 1.0 + model.sdf + + + Michael Anderson + anderson@mbari.org + + + Louise Poubel + louise@openrobotics.org + + + Dharini Dutia + dharini@openrobotics.org + + + + Rhys Mainwaring + rhys.mainwaring@me.com + + + + Base MBARI-WEC (Wave Energy Converter) model for ocean sensing + and harvesting wave energy. + + This is a version of the MBARI-WEC model from https://github.com/osrf/buoy_sim. + It has been simplified for testing the linear-wave-body model. + + + diff --git a/gz-waves-models/models/mbari_buoy/model.sdf b/gz-waves-models/models/mbari_buoy/model.sdf new file mode 100644 index 00000000..4a27f159 --- /dev/null +++ b/gz-waves-models/models/mbari_buoy/model.sdf @@ -0,0 +1,86 @@ + + + + + + 0 0 0 0 0 0 + + 0 0 -0.24 0 0 0 + + 2450 + + + 1429 + 4.70 + 6.74 + 1476 + 30.5 + 670.3 + + + + 0 0 -2.27 0 0 0 + + + model://mbari_buoy/meshes/buoy_float.stl + + + + 1.0 1.0 0.0 1 + 1.0 1.0 0.0 1 + 1.0 1.0 0.0 1 + + + + + 0 0 0 0 0 0 + + + model://mbari_buoy/meshes/buoy_float_collision_wp_f316.stl + + + + + + + diff --git a/gz-waves-models/models/spheroid_test1a/config/hydrodata/spheroid_f3676.h5 b/gz-waves-models/models/spheroid_test1a/config/hydrodata/spheroid_f3676.h5 new file mode 100644 index 00000000..06c91185 Binary files /dev/null and b/gz-waves-models/models/spheroid_test1a/config/hydrodata/spheroid_f3676.h5 differ diff --git a/gz-waves-models/models/spheroid_test1a/meshes/spheroid_f960.stl b/gz-waves-models/models/spheroid_test1a/meshes/spheroid_f960.stl new file mode 100644 index 00000000..1c371a3e Binary files /dev/null and b/gz-waves-models/models/spheroid_test1a/meshes/spheroid_f960.stl differ diff --git a/gz-waves-models/models/spheroid_test1a/model.config b/gz-waves-models/models/spheroid_test1a/model.config new file mode 100644 index 00000000..398edafb --- /dev/null +++ b/gz-waves-models/models/spheroid_test1a/model.config @@ -0,0 +1,20 @@ + + + Spheroid Test1a + 1.0 + model.sdf + + + Rhys Mainwaring + rhys.mainwaring@me.com + + + + Spheriod for Test1a + - semi axis a = 1.0m + - semi axis b = c = 0.5m + - length = 2a + - diameter = 2b + + + diff --git a/gz-waves-models/models/spheroid_test1a/model.sdf b/gz-waves-models/models/spheroid_test1a/model.sdf new file mode 100644 index 00000000..b2a20424 --- /dev/null +++ b/gz-waves-models/models/spheroid_test1a/model.sdf @@ -0,0 +1,41 @@ + + + + 0 0 0 0 0 0 + + + 0 0 0 0 0 0 + + + models://spheroid_test1a/meshes/spheroid_f960.stl + + + + 1.0 1.0 0.0 1 + 1.0 1.0 0.0 1 + 1.0 1.0 0.0 1 + + + + 0 0 0 0 0 0 + + + models://spheroid_test1a/meshes/spheroid_f960.stl + + + + + 0 0 0 0 0 0 + 536.69 + + 53.67 + 0.0 + 0.0 + 134.17 + 0.0 + 134.17 + + + + + diff --git a/gz-waves-models/world_models/regular_waves_15s_2m/model.config b/gz-waves-models/world_models/regular_waves_15s_2m/model.config new file mode 100644 index 00000000..20a46e88 --- /dev/null +++ b/gz-waves-models/world_models/regular_waves_15s_2m/model.config @@ -0,0 +1,20 @@ + + + + Regular Waves 15s 2m + 1.0 + model.sdf + + + Rhys Mainwaring + rhys.mainwaring@me.com + + + + Regular surface waves T=15s, H=2m. + + This model uses the materials from the `waves` + model to prevent duplicating the large mesh files. + + + diff --git a/gz-waves-models/world_models/regular_waves_15s_2m/model.sdf b/gz-waves-models/world_models/regular_waves_15s_2m/model.sdf new file mode 100644 index 00000000..b3fea742 --- /dev/null +++ b/gz-waves-models/world_models/regular_waves_15s_2m/model.sdf @@ -0,0 +1,61 @@ + + + + true + + 0 + 30 + + sinusoid + 1 + 1.0 + 15.0 + 1 0 + + + + + + + models://waves/materials/mesh_L256m_N256.dae + + + + 0.0 0.05 0.8 0.92 + 0.0 0.1 0.7 0.92 + 0.7 0.7 0.7 0.92 + + + models://waves/materials/water.jpg + models://waves/materials/wave_normals.dds + models://waves/materials/skybox_lowres.dds + 0.3 + 0.1 + + + + + 0 + DYNAMIC_GEOMETRY + 0 0 + 0 0 + + sinusoid + 1 + 1.0 + 15.0 + 1 0 + + + models://waves/materials/waves_vs.metal + models://waves/materials/waves_fs.metal + + + + + + diff --git a/gz-waves-models/world_models/regular_waves_15s_4m/model.config b/gz-waves-models/world_models/regular_waves_15s_4m/model.config new file mode 100644 index 00000000..1391e24d --- /dev/null +++ b/gz-waves-models/world_models/regular_waves_15s_4m/model.config @@ -0,0 +1,20 @@ + + + + Regular Waves 15s 4m + 1.0 + model.sdf + + + Rhys Mainwaring + rhys.mainwaring@me.com + + + + Regular surface waves T=15s, H=4m. + + This model uses the materials from the `waves` + model to prevent duplicating the large mesh files. + + + diff --git a/gz-waves-models/world_models/regular_waves_15s_4m/model.sdf b/gz-waves-models/world_models/regular_waves_15s_4m/model.sdf new file mode 100644 index 00000000..d6dfed65 --- /dev/null +++ b/gz-waves-models/world_models/regular_waves_15s_4m/model.sdf @@ -0,0 +1,61 @@ + + + + true + + 0 + 30 + + sinusoid + 1 + 2.0 + 15.0 + 1 0 + + + + + + + models://waves/materials/mesh_L256m_N256.dae + + + + 0.0 0.05 0.8 0.92 + 0.0 0.1 0.7 0.92 + 0.7 0.7 0.7 0.92 + + + models://waves/materials/water.jpg + models://waves/materials/wave_normals.dds + models://waves/materials/skybox_lowres.dds + 0.3 + 0.1 + + + + + 0 + DYNAMIC_GEOMETRY + 0 0 + 0 0 + + sinusoid + 1 + 2.0 + 15.0 + 1 0 + + + models://waves/materials/waves_vs.metal + models://waves/materials/waves_fs.metal + + + + + + diff --git a/gz-waves-models/world_models/regular_waves_15s_6m/model.config b/gz-waves-models/world_models/regular_waves_15s_6m/model.config new file mode 100644 index 00000000..372412ab --- /dev/null +++ b/gz-waves-models/world_models/regular_waves_15s_6m/model.config @@ -0,0 +1,20 @@ + + + + Regular Waves 15s 6m + 1.0 + model.sdf + + + Rhys Mainwaring + rhys.mainwaring@me.com + + + + Regular surface waves T=15s, H=6m. + + This model uses the materials from the `waves` + model to prevent duplicating the large mesh files. + + + diff --git a/gz-waves-models/world_models/regular_waves_15s_6m/model.sdf b/gz-waves-models/world_models/regular_waves_15s_6m/model.sdf new file mode 100644 index 00000000..54226b3a --- /dev/null +++ b/gz-waves-models/world_models/regular_waves_15s_6m/model.sdf @@ -0,0 +1,61 @@ + + + + true + + 0 + 30 + + sinusoid + 1 + 3.0 + 15.0 + 1 0 + + + + + + + models://waves/materials/mesh_L256m_N256.dae + + + + 0.0 0.05 0.8 0.92 + 0.0 0.1 0.7 0.92 + 0.7 0.7 0.7 0.92 + + + models://waves/materials/water.jpg + models://waves/materials/wave_normals.dds + models://waves/materials/skybox_lowres.dds + 0.3 + 0.1 + + + + + 0 + DYNAMIC_GEOMETRY + 0 0 + 0 0 + + sinusoid + 1 + 3.0 + 15.0 + 1 0 + + + models://waves/materials/waves_vs.metal + models://waves/materials/waves_fs.metal + + + + + + diff --git a/gz-waves-models/world_models/regular_waves_1s_0.5m/model.config b/gz-waves-models/world_models/regular_waves_1s_0.5m/model.config new file mode 100644 index 00000000..a57eee6c --- /dev/null +++ b/gz-waves-models/world_models/regular_waves_1s_0.5m/model.config @@ -0,0 +1,20 @@ + + + + Regular Waves 1s 0.5m + 1.0 + model.sdf + + + Rhys Mainwaring + rhys.mainwaring@me.com + + + + Regular surface waves T=1s, H=0.5m. + + This model uses the materials from the `waves` + model to prevent duplicating the large mesh files. + + + diff --git a/gz-waves-models/world_models/regular_waves_1s_0.5m/model.sdf b/gz-waves-models/world_models/regular_waves_1s_0.5m/model.sdf new file mode 100644 index 00000000..2f6705cf --- /dev/null +++ b/gz-waves-models/world_models/regular_waves_1s_0.5m/model.sdf @@ -0,0 +1,61 @@ + + + + true + + 0 + 30 + + sinusoid + 1 + 0.25 + 1.0 + 1 0 + + + + + + + models://waves/materials/mesh_L256m_N256.dae + + + + 0.0 0.05 0.8 0.92 + 0.0 0.1 0.7 0.92 + 0.7 0.7 0.7 0.92 + + + models://waves/materials/water.jpg + models://waves/materials/wave_normals.dds + models://waves/materials/skybox_lowres.dds + 0.3 + 0.1 + + + + + 0 + DYNAMIC_GEOMETRY + 0 0 + 0 0 + + sinusoid + 1 + 0.25 + 1.0 + 1 0 + + + models://waves/materials/waves_vs.metal + models://waves/materials/waves_fs.metal + + + + + + diff --git a/gz-waves-models/world_models/regular_waves_20s_0m/model.config b/gz-waves-models/world_models/regular_waves_20s_0m/model.config new file mode 100644 index 00000000..1f55c990 --- /dev/null +++ b/gz-waves-models/world_models/regular_waves_20s_0m/model.config @@ -0,0 +1,20 @@ + + + + Regular Waves 20s 0m + 1.0 + model.sdf + + + Rhys Mainwaring + rhys.mainwaring@me.com + + + + Regular surface waves T=20s, H=0m. + + This model uses the materials from the `waves` + model to prevent duplicating the large mesh files. + + + diff --git a/gz-waves-models/world_models/regular_waves_20s_0m/model.sdf b/gz-waves-models/world_models/regular_waves_20s_0m/model.sdf new file mode 100644 index 00000000..1dc8b484 --- /dev/null +++ b/gz-waves-models/world_models/regular_waves_20s_0m/model.sdf @@ -0,0 +1,61 @@ + + + + true + + 0 + 30 + + sinusoid + 1 + 0.0 + 20.0 + 1 0 + + + + + + + models://waves/materials/mesh_L256m_N256.dae + + + + 0.0 0.05 0.8 0.92 + 0.0 0.1 0.7 0.92 + 0.7 0.7 0.7 0.92 + + + models://waves/materials/water.jpg + models://waves/materials/wave_normals.dds + models://waves/materials/skybox_lowres.dds + 0.3 + 0.1 + + + + + 0 + DYNAMIC_GEOMETRY + 0 0 + 0 0 + + sinusoid + 1 + 0.0 + 20.0 + 1 0 + + + models://waves/materials/waves_vs.metal + models://waves/materials/waves_fs.metal + + + + + + diff --git a/gz-waves-models/world_models/regular_waves_3s_1m/model.config b/gz-waves-models/world_models/regular_waves_3s_1m/model.config new file mode 100644 index 00000000..6d623a32 --- /dev/null +++ b/gz-waves-models/world_models/regular_waves_3s_1m/model.config @@ -0,0 +1,20 @@ + + + + Regular Waves 3s 1m + 1.0 + model.sdf + + + Rhys Mainwaring + rhys.mainwaring@me.com + + + + Regular surface waves T=3s, H=1m. + + This model uses the materials from the `waves` + model to prevent duplicating the large mesh files. + + + diff --git a/gz-waves-models/world_models/regular_waves_3s_1m/model.sdf b/gz-waves-models/world_models/regular_waves_3s_1m/model.sdf new file mode 100644 index 00000000..eb817937 --- /dev/null +++ b/gz-waves-models/world_models/regular_waves_3s_1m/model.sdf @@ -0,0 +1,61 @@ + + + + true + + 0 + 30 + + sinusoid + 1 + 0.5 + 3.0 + 1 0 + + + + + + + models://waves/materials/mesh_L256m_N256.dae + + + + 0.0 0.05 0.8 0.92 + 0.0 0.1 0.7 0.92 + 0.7 0.7 0.7 0.92 + + + models://waves/materials/water.jpg + models://waves/materials/wave_normals.dds + models://waves/materials/skybox_lowres.dds + 0.3 + 0.1 + + + + + 0 + DYNAMIC_GEOMETRY + 0 0 + 0 0 + + sinusoid + 1 + 0.5 + 3.0 + 1 0 + + + models://waves/materials/waves_vs.metal + models://waves/materials/waves_fs.metal + + + + + + diff --git a/gz-waves-models/world_models/regular_waves_6s_2m/model.config b/gz-waves-models/world_models/regular_waves_6s_2m/model.config new file mode 100644 index 00000000..72329809 --- /dev/null +++ b/gz-waves-models/world_models/regular_waves_6s_2m/model.config @@ -0,0 +1,20 @@ + + + + Regular Waves 6s 2m + 1.0 + model.sdf + + + Rhys Mainwaring + rhys.mainwaring@me.com + + + + Regular surface waves T=6s, H=2m. + + This model uses the materials from the `waves` + model to prevent duplicating the large mesh files. + + + diff --git a/gz-waves-models/world_models/regular_waves_6s_2m/model.sdf b/gz-waves-models/world_models/regular_waves_6s_2m/model.sdf new file mode 100644 index 00000000..f6bae80d --- /dev/null +++ b/gz-waves-models/world_models/regular_waves_6s_2m/model.sdf @@ -0,0 +1,61 @@ + + + + true + + 0 + 30 + + sinusoid + 1 + 1.0 + 6.0 + 1 0 + + + + + + + models://waves/materials/mesh_L256m_N256.dae + + + + 0.0 0.05 0.8 0.92 + 0.0 0.1 0.7 0.92 + 0.7 0.7 0.7 0.92 + + + models://waves/materials/water.jpg + models://waves/materials/wave_normals.dds + models://waves/materials/skybox_lowres.dds + 0.3 + 0.1 + + + + + 0 + DYNAMIC_GEOMETRY + 0 0 + 0 0 + + sinusoid + 1 + 1.0 + 6.0 + 1 0 + + + models://waves/materials/waves_vs.metal + models://waves/materials/waves_fs.metal + + + + + + diff --git a/gz-waves-models/world_models/regular_waves_6s_4m/model.config b/gz-waves-models/world_models/regular_waves_6s_4m/model.config new file mode 100644 index 00000000..263a5132 --- /dev/null +++ b/gz-waves-models/world_models/regular_waves_6s_4m/model.config @@ -0,0 +1,20 @@ + + + + Regular Waves 6s 4m + 1.0 + model.sdf + + + Rhys Mainwaring + rhys.mainwaring@me.com + + + + Regular surface waves T=6s, H=4m. + + This model uses the materials from the `waves` + model to prevent duplicating the large mesh files. + + + diff --git a/gz-waves-models/world_models/regular_waves_6s_4m/model.sdf b/gz-waves-models/world_models/regular_waves_6s_4m/model.sdf new file mode 100644 index 00000000..d2031260 --- /dev/null +++ b/gz-waves-models/world_models/regular_waves_6s_4m/model.sdf @@ -0,0 +1,61 @@ + + + + true + + 0 + 30 + + sinusoid + 1 + 2.0 + 6.0 + 1 0 + + + + + + + models://waves/materials/mesh_L256m_N256.dae + + + + 0.0 0.05 0.8 0.92 + 0.0 0.1 0.7 0.92 + 0.7 0.7 0.7 0.92 + + + models://waves/materials/water.jpg + models://waves/materials/wave_normals.dds + models://waves/materials/skybox_lowres.dds + 0.3 + 0.1 + + + + + 0 + DYNAMIC_GEOMETRY + 0 0 + 0 0 + + sinusoid + 1 + 2.0 + 6.0 + 1 0 + + + models://waves/materials/waves_vs.metal + models://waves/materials/waves_fs.metal + + + + + + diff --git a/gz-waves-models/world_models/regular_waves_8s_2m/model.config b/gz-waves-models/world_models/regular_waves_8s_2m/model.config new file mode 100644 index 00000000..aa32b025 --- /dev/null +++ b/gz-waves-models/world_models/regular_waves_8s_2m/model.config @@ -0,0 +1,20 @@ + + + + Regular Waves 8s 2m + 1.0 + model.sdf + + + Rhys Mainwaring + rhys.mainwaring@me.com + + + + Regular surface waves T=8s, H=2m. + + This model uses the materials from the `waves` + model to prevent duplicating the large mesh files. + + + diff --git a/gz-waves-models/world_models/regular_waves_8s_2m/model.sdf b/gz-waves-models/world_models/regular_waves_8s_2m/model.sdf new file mode 100644 index 00000000..381cf508 --- /dev/null +++ b/gz-waves-models/world_models/regular_waves_8s_2m/model.sdf @@ -0,0 +1,61 @@ + + + + true + + 0 + 30 + + sinusoid + 1 + 1.0 + 8.0 + 1 0 + + + + + + + models://waves/materials/mesh_L256m_N256.dae + + + + 0.0 0.05 0.8 0.92 + 0.0 0.1 0.7 0.92 + 0.7 0.7 0.7 0.92 + + + models://waves/materials/water.jpg + models://waves/materials/wave_normals.dds + models://waves/materials/skybox_lowres.dds + 0.3 + 0.1 + + + + + 0 + DYNAMIC_GEOMETRY + 0 0 + 0 0 + + sinusoid + 1 + 1.0 + 8.0 + 1 0 + + + models://waves/materials/waves_vs.metal + models://waves/materials/waves_fs.metal + + + + + + diff --git a/gz-waves-models/world_models/regular_waves_8s_4m/model.config b/gz-waves-models/world_models/regular_waves_8s_4m/model.config new file mode 100644 index 00000000..e584335a --- /dev/null +++ b/gz-waves-models/world_models/regular_waves_8s_4m/model.config @@ -0,0 +1,20 @@ + + + + Regular Waves 8s 4m + 1.0 + model.sdf + + + Rhys Mainwaring + rhys.mainwaring@me.com + + + + Regular surface waves T=8s, H=4m. + + This model uses the materials from the `waves` + model to prevent duplicating the large mesh files. + + + diff --git a/gz-waves-models/world_models/regular_waves_8s_4m/model.sdf b/gz-waves-models/world_models/regular_waves_8s_4m/model.sdf new file mode 100644 index 00000000..6bad7b73 --- /dev/null +++ b/gz-waves-models/world_models/regular_waves_8s_4m/model.sdf @@ -0,0 +1,61 @@ + + + + true + + 0 + 30 + + sinusoid + 1 + 2.0 + 8.0 + 1 0 + + + + + + + models://waves/materials/mesh_L256m_N256.dae + + + + 0.0 0.05 0.8 0.92 + 0.0 0.1 0.7 0.92 + 0.7 0.7 0.7 0.92 + + + models://waves/materials/water.jpg + models://waves/materials/wave_normals.dds + models://waves/materials/skybox_lowres.dds + 0.3 + 0.1 + + + + + 0 + DYNAMIC_GEOMETRY + 0 0 + 0 0 + + sinusoid + 1 + 2.0 + 8.0 + 1 0 + + + models://waves/materials/waves_vs.metal + models://waves/materials/waves_fs.metal + + + + + + diff --git a/gz-waves-models/worlds/ellipsoid_buoy.sdf b/gz-waves-models/worlds/ellipsoid_buoy.sdf new file mode 100644 index 00000000..d380f7f4 --- /dev/null +++ b/gz-waves-models/worlds/ellipsoid_buoy.sdf @@ -0,0 +1,315 @@ + + + + + 0.001 + 1 + + + + + + ogre2 + 0.8 0.8 0.8 + + + + + + + + + + 0 0 0 + + + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.6 0.6 0.6 1 + -0.5 0.1 -0.9 + + + + + 1 + + + 0 + 5 0 0.1 0 0 0 + + + 10 0.01 0.01 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + 0.5 0.5 0.5 1 + + + + 0 + 0 5 0.1 0 0 0 + + + 0.01 10 0.01 + + + + 0 1 0 1 + 0 1 0 1 + 0 1 0 1 + 0.5 0.5 0.5 1 + + + + 0 + 0 0 5.1 0 0 0 + + + 0.01 0.01 10 + + + + 0 0 1 1 + 0 0 1 1 + 0 0 1 1 + 0.5 0.5 0.5 1 + + + + + + + model://regular_waves_6s_2m + + + + 0 0 0 0 0 0 + model://ellipsoid_buoy + ellipsoid_buoy + + + + model://ellipsoid_buoy/config/hydrodata/ellipsoid_f5244.h5 + + + + + 6 + 2 + 0 + 0 + + + + + + 9.81 + 1025 + + + + + 0 0 0 + 0 0 -0.935 + 129.1381 + + + + + 0 + + + 0. 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. 0. + 0. 0. 777494.4 -3.6 -402.7 0. + 0. 0. -3.6 6167224.2 -0.1 0. + 0. 0. -402.7 -0.1 6179979.4 0. + 0. 0. 0. 0. 0. 0. + + + + + 52732.7109003133 -0.0461102712478722 5.88390664387022 0.296417351644741 246367.266847758 -1.69953653780694 + -0.0678279438415122 52944.8240664938 -1.47610970294622 -246974.480351485 -0.376605346811632 34.7833617031108 + 5.56653991122738 0.0361713254775427 197297.142256690 0.802697521049529 -87.4935912381782 -0.0504125898702509 + 0.410840691063419 -247341.339091709 5.02714890072835 1214533.79620113 2.83888902153701 -166.779120688123 + 246734.857503928 -0.346433003966073 -87.1795788996776 2.60143644204397 1215195.98272167 -2.36242713115735 + -1.30857894347732 34.6478012553392 0.0173325214982212 -165.977540011457 -1.09781377470450 108.258384753611 + + + 7209.55521458289 -0.00241865277674112 -0.656452733818339 0.0362151909394597 33068.9436025348 -0.277065103262815 + -0.00574983097131929 7224.96421786452 0.0739544503252989 -33093.8859951854 -0.0481987286722465 4.65143300682749 + -0.894991216445364 1.44416946591210 114644.248735475 -6.26262145357765 -57.3651869899508 -0.0632414440092088 + 0.0458640797833837 -33189.4228421519 -2.06423557434899 152022.421220666 0.311347231737735 -21.3664338314253 + 33165.4358604128 -0.0326285489204398 -57.6246853052043 0.264850645030705 152122.332407559 -1.27495177084548 + -0.231015729667316 4.65422866544508 -0.00392458624416725 -21.3177927485565 -1.06001165595936 0.0259605842341352 + + + + + + 3750.27966906368 + 1.36136318915143 + 422045.810882563 + -12.1223298789796 + 17026.4196175993 + -0.120671686522160 + + + 154952.048410117 + 0.0258067417631121 + 119022.435012338 + -1.48920899489199 + 712781.363146319 + -5.43599198405567 + + + + + 9.23543827040243 + 0.0162480147898594 + 622401.014204239 + -6.38980408679980 + -282.389237456753 + -0.000103055222405902 + + + 126959.968499544 + -0.0166309938157517 + -34.6068541762491 + 0.533226736595381 + 590993.613169733 + -3.78930171294708 + + + + + 3741.04423079327 + 1.34511517436157 + -200355.203321676 + -5.73252579217983 + 17308.8088550560 + -0.120568631299754 + + + 27992.0799105738 + 0.0424377355788638 + 119057.041866514 + -2.02243573148737 + 121787.749976586 + -1.64669027110858 + + + + + + + + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + + + + + 0 + 0 + 0 + 0 + 0 + + + + + 20 + + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + + /force/gravity + /force/buoyancy + /force/restoring + /force/radiation_damping + /force/radiation_added_mass + /force/excitation + /force/excitation_froude_krylov + /force/excitation_scattering + + + + + + + + + + + odom + base_link + 50 + model/ellipsoid_buoy/odometry + 3 + + + + true + true + true + 1 + + + + + + diff --git a/gz-waves-models/worlds/mbari_buoy.sdf b/gz-waves-models/worlds/mbari_buoy.sdf new file mode 100644 index 00000000..b0a0db64 --- /dev/null +++ b/gz-waves-models/worlds/mbari_buoy.sdf @@ -0,0 +1,217 @@ + + + + + 0.001 + 1 + + + + + + ogre2 + 0.8 0.8 0.8 + + + + + + + + + + 0 0 0 + + + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.6 0.6 0.6 1 + -0.5 0.1 -0.9 + + + + model://regular_waves_15s_2m + + + + 0 0 0 0 0 0 + model://mbari_buoy + mbari_buoy + + + + + + + + + model://mbari_buoy/config/hydrodata/buoy_float_collision_wp_f5548.h5 + + + + + 15 + 2 + 0 + 0 + + + + + + 9.81 + 1025 + + + + + 0 0 0 + 0 0 -0.22 + 2.39 + + + + + 0 + + + + + + + + + + + + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 0 + + + + + 0 + 0 + 0 + 0 + 0 + + + + + 20 + + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + + /force/gravity + /force/buoyancy + /force/restoring + /force/radiation_damping + /force/radiation_added_mass + /force/excitation + /force/excitation_froude_krylov + /force/excitation_scattering + + + + + + + + + + + odom + base_link + 50 + model/mbari_buoy/odometry + 3 + + + + true + true + true + 1 + + + + + + diff --git a/gz-waves-models/worlds/spheroid_test1a.sdf b/gz-waves-models/worlds/spheroid_test1a.sdf new file mode 100644 index 00000000..3d7c91d1 --- /dev/null +++ b/gz-waves-models/worlds/spheroid_test1a.sdf @@ -0,0 +1,264 @@ + + + + + 0.001 + 1 + + + + + + ogre2 + 0.8 0.8 0.8 + + + + + + + + + + 0 0 0 + + + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.6 0.6 0.6 1 + -0.5 0.1 -0.9 + + + + model://regular_waves_6s_2m + + + + 0 0 0 0 0 0 + model://spheroid_test1a + spheroid_test1a + + + + + models://spheroid_test1a/config/hydrodata/spheroid_f3676.h5 + + + + + 6 + 2 + 0 + 0 + + + + + + 9.81 + 1025 + + + + + 0.000 -0.000 0 + 0.000 -0.000 -0.186 + 0.5204 + + + + + 0 + + + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 15770.5352835793 -0.000179775265095523 -0.00564164086904214 0 + 0 0 -0.000179775265095523 13.4841248667165 -0.000548153398607488 0 + 0 0 -0.00564164086904214 -0.000548153398607488 2971.70923342326 0 + 0 0 0 0 0 0 + + + + + 117.962328366865 -0.00643138097875486 0.000107134507193463 -0.00253373386642958 66.6042248767914 -0.00100552745178320 + -0.00195049618761688 394.048830959351 -0.000777662751166715 -0.875102901608123 0.00685622580721342 -0.000523533237841154 + 0.000369503041596098 -7.66100386758192e-05 720.762471246146 -0.000348543268600543 -0.000844309735544994 0.00949490455462257 + -0.00243241167102902 -0.873539443020041 -0.000343542243939859 0.00909688173745441 -0.00186731164869327 -0.000292586554358150 + 66.6688184404022 0.00258406415603072 -0.000694626031312840 -0.00191682431627694 44.7848522997510 0.000238121671839681 + -0.000471989582643287 0.00114393892587981 -0.00141114084041007 -0.000296997896730033 0.000625671809735371 32.9252437053187 + + + 0.142708917225694 -1.54810883168306e-05 -8.50226705427670e-07 -3.23444731561159e-06 0.0799235017660543 -1.75777084142501e-06 + -5.08407798112439e-06 0.291869782221198 7.51060580388456e-06 -0.000646742119402389 5.63359698170387e-06 -8.74138938395804e-08 + 0.000126035717777265 0.000191160274628405 124.994255317329 -3.02603880175141e-06 -4.65672994825797e-05 0.00302685483253595 + -3.06703110312061e-06 -0.000647680943769099 6.69269366902186e-06 1.43523968298466e-06 -1.73653444356224e-06 1.97725056854821e-10 + 0.0801191349107487 -3.55223845837922e-06 -3.51418199158459e-05 -1.82730430222896e-06 0.0448702661496341 -9.87279985534059e-07 + -2.57108485816196e-07 1.83231862649475e-07 3.10951754235196e-06 -6.05474463319908e-10 -1.43291373997276e-07 2.05659860744388e-05 + + + + + + 0.133699130979482 + 0.000821492879853752 + 14420.9973753112 + 0.000691474478869388 + 0.0711271206082944 + 0.000323509894426478 + + + 687.996022048749 + -0.00209814346815071 + 130.866634048219 + -0.0148315003908613 + 386.264811931074 + -0.00120513597183345 + + + + + 1.41211662127372e-05 + 3.13880228926762e-06 + 15204.4451040593 + 0.000368945019634488 + -0.00470236615708030 + -0.00125471788120319 + + + 572.264775400861 + 0.000359916205915911 + -0.000527774332492802 + -0.0125331014320662 + 322.215874632793 + -0.000635099695241092 + + + + + 0.133685009813269 + 0.000818354077564484 + -783.447728748175 + 0.000322529459234900 + 0.0758294867653747 + 0.00157822777562967 + + + 115.731246647888 + -0.00245805967406663 + 130.867161822552 + -0.00229839895879514 + 64.0489372982808 + -0.000570036276592359 + + + + + + + + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 0 + + + + + 0 + 0 + 0 + 0 + 0 + + + + + 20 + + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + + /force/gravity + /force/buoyancy + /force/restoring + /force/radiation_damping + /force/radiation_added_mass + /force/excitation + /force/excitation_froude_krylov + /force/excitation_scattering + + + + + + + + + + + odom + base_link + 50 + model/spheroid_test1a/odometry + 3 + + + + true + true + true + 1 + + + + + + diff --git a/gz-waves/CMakeLists.txt b/gz-waves/CMakeLists.txt index 42e9ed9e..7dc2a6d3 100644 --- a/gz-waves/CMakeLists.txt +++ b/gz-waves/CMakeLists.txt @@ -35,6 +35,8 @@ list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake) # Search for project-specific dependencies #============================================================================ +include(Add_HighFive) + #-------------------------------------- # Find gnuplot-iostream - the header is used by the examples in test/plots include(Add_gnuplot-iostream) diff --git a/gz-waves/cmake/Add_HighFive.cmake b/gz-waves/cmake/Add_HighFive.cmake new file mode 100644 index 00000000..bb9e1509 --- /dev/null +++ b/gz-waves/cmake/Add_HighFive.cmake @@ -0,0 +1,11 @@ +include(FetchContent) + +FetchContent_Declare( + HighFive + GIT_REPOSITORY ${HighFive_URL} + GIT_TAG ${HighFive_TAG} +) + +FetchContent_MakeAvailable(HighFive) + + diff --git a/gz-waves/cmake/URL.conf.cmake b/gz-waves/cmake/URL.conf.cmake index 293c0a83..2a544cc8 100644 --- a/gz-waves/cmake/URL.conf.cmake +++ b/gz-waves/cmake/URL.conf.cmake @@ -6,3 +6,6 @@ set(gnuplot-iostream_URL https://github.com/dstahlke/gnuplot-iostream.git) set(gnuplot-iostream_TAG d674bdf23b93c76d491f03246d2e6f72bf5739ce CACHE STRING "gnuplot-iostream version") +# HighFive: tag v2.6.2 +set(HighFive_URL https://github.com/BlueBrain/HighFive.git) +set(HighFive_TAG 577a2552357ddd9ba9ed412452ea5406747033b4 CACHE STRING "HighFive version") diff --git a/gz-waves/src/systems/CMakeLists.txt b/gz-waves/src/systems/CMakeLists.txt index 84aef62f..1d08b362 100644 --- a/gz-waves/src/systems/CMakeLists.txt +++ b/gz-waves/src/systems/CMakeLists.txt @@ -89,4 +89,5 @@ endfunction() add_subdirectory(dynamic) add_subdirectory(hydrodynamics) +add_subdirectory(linear_wave_body) add_subdirectory(waves) diff --git a/gz-waves/src/systems/linear_wave_body/CMakeLists.txt b/gz-waves/src/systems/linear_wave_body/CMakeLists.txt new file mode 100644 index 00000000..6ef09c6e --- /dev/null +++ b/gz-waves/src/systems/linear_wave_body/CMakeLists.txt @@ -0,0 +1,13 @@ +find_package(HDF5 REQUIRED COMPONENTS CXX HL) +# find_package(HighFive REQUIRED) + +gz_add_system(linear-wave-body + SOURCES + LinearWaveBody.cc + PUBLIC_LINK_LIBS + gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER} + Eigen3::Eigen + HighFive + hdf5::hdf5_cpp +) diff --git a/gz-waves/src/systems/linear_wave_body/LinearWaveBody.cc b/gz-waves/src/systems/linear_wave_body/LinearWaveBody.cc new file mode 100644 index 00000000..e4bef4c5 --- /dev/null +++ b/gz-waves/src/systems/linear_wave_body/LinearWaveBody.cc @@ -0,0 +1,2465 @@ +// Copyright (C) 2022 Rhys Mainwaring +// +// This program is free software: you can redistribute it and/or modify +// it under the terms of the GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include "LinearWaveBody.hh" + +#include +#include + +#include + +#include + +#include + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include + +#include +#include + +#include +#include +#include +#include +#include + +#include "mlinterp.hpp" + +using namespace gz; +using namespace sim; +using namespace systems; + +namespace Eigen +{ + using Vector6d = Matrix; + using Matrix6d = Matrix; +} + +namespace +{ + /// \brief use stream buffers to populate a vector from a whitespace + /// delimited string of numbers. + /// https://stackoverflow.com/questions/4423361/constructing-a-vector-with-istream-iterators + /// https://stackoverflow.com/questions/2275135/splitting-a-string-by-whitespace-in-c + std::vector whitespaceDelimitedStringToDoubleVector( + const std::string &_input) + { + // tokenise + std::istringstream buffer(_input); + std::vector tokens( + (std::istream_iterator(buffer)), + std::istream_iterator()); + + std::vector ret(tokens.size()); + for (size_t i=0; i + T SdfGet( + const std::shared_ptr &_sdf, + const std::string &_key) + { + return _sdf->Get(_key); + } + + /// \brief template specialisation for std::vector. + /// + /// Parse data a whitespace delimited string (commas will be ignored in XML). + // template<> + // std::vector SdfGet>( + // const std::shared_ptr &_sdf, + // const std::string &_key) + // { + // auto str = _sdf->Get(_key); + // std::vector ret = whitespaceDelimitedStringToDoubleVector(str); + // return ret; + // } + + /// \brief template specialisation for Eigen::Matrix6d. + /// + /// Parse data a whitespace delimited string (commas will be ignored in XML). + /// Eigen assumes a vector contains successive columns, so transpose. + template<> + Eigen::Matrix6d SdfGet( + const std::shared_ptr &_sdf, + const std::string &_key) + { + auto str = _sdf->Get(_key); + std::vector v = whitespaceDelimitedStringToDoubleVector(str); + Eigen::Matrix6d ret(v.data()); + return ret.transpose(); + } + + /// \brief template specialisation for Eigen::Vector6d. + /// + /// Parse data a whitespace delimited string (commas will be ignored in XML). + template<> + Eigen::Vector6d SdfGet( + const std::shared_ptr &_sdf, + const std::string &_key) + { + auto str = _sdf->Get(_key); + std::vector v = whitespaceDelimitedStringToDoubleVector(str); + Eigen::Vector6d ret(v.data()); + return ret; + } +} + +class gz::sim::systems::LinearWaveBodyPrivate +{ + /// \todo List of items to investigate or fix + /// + /// 1. Linear displacements should be calculated for the origin of the + /// floating body waterplane. Done. + /// + /// 2. Improve pose notation to emphasise frame + /// (e.g. Peter Corke's notation). + /// Use Kane/monogram (Drake) notation. Done + /// + /// 3. Set waterplane pose in parameters. Done. + /// + /// 4. Remove hardcoding of 1 heading for excitation data. + /// + /// 5. Add support for finding file in model:// or package:// dirs. Done. + /// + /// 6. Refactor code to read HDF5 files. Removing duplicated code. Done. + /// + /// 7. Improve handing of overrides. This should happen once in config + /// not in the update loop. Done. + /// + /// 8. Review and document assunmptions about what quantities are treated + /// as constants in the linear potential wave-body model. + /// + /// Hydrostatics + /// - cg and cb are supplied in the body frame at equilibrium position + /// are not updated as the body pose alters, or if the body is given + /// an initial pose. + /// - the body waterplane origin is located on the free surface. + /// - the displacements used in the hydrostatics restoring force are + /// calculated in the world frame. The reference is the initial + /// position of origin of the body waterplane. + /// + /// 9. Simplify data structures for debugging, publishing forces etc. + /// map[forceName] -> { enable, debug, publish, topic, ... } + /// and perhaps a bitmasks for switching features on/off + /// + /// 10. Interpolate hdf5 date for constant coefficient case. Done. + /// + /// 11. Optimise interpolation to eliminate unnecessary copies. + /// + /// 12. Use math::eigen3::convert for converting Matrix and Vector types. + /// + /// 13. Review use of Eigen. + /// + + /// \brief WEC-Sim BEMIO hydro data structure (read from HDF5 file) + /// + /// For details see: + /// http://wec-sim.github.io/WEC-Sim/master/user/advanced_features.html#bemio-hydro-data-structure + /// + /// This is the raw data loaded from file. It is not accessed directly in + /// the simulation updates. + /// + /// The hydro coefficients are assumed to be non-dimensional. + /// + struct HydroData + { + /// \brief Hydro data hdf5 file. + public: std::string hdf5File; + + /// \brief Infinite frequency radiation added mass [Ndof, Ndof] + Eigen::Matrix6d Ainf = Eigen::Matrix6d::Zero(); + + /// \brief Radiation added mass [Ndof, Ndof, Nf] + std::vector A; + + /// \brief Radiation wave damping [Ndof, Ndof, Nf] + std::vector B; + + /// \brief Radiation IRF [Ndof, Ndof, len(ra_t)] + std::vector ra_K; + + /// \brief Radiation IRF time steps + std::vector ra_t; + + /// \brief Radiation IRF temporal angular frequency steps + std::vector ra_w; + + /// \todo remove hardcoding of 1 heading for excitation data + + /// \brief Excitation force [Ndof, Nh, Nf] + std::vector> ex_re; + std::vector> ex_im; + std::vector> ex_ma; + std::vector> ex_ph; + + /// \brief Froude-Krylov component of excitation force [Ndof, Nh, Nf] + std::vector> fk_re; + std::vector> fk_im; + std::vector> fk_ma; + std::vector> fk_ph; + + /// \brief Scattering component of excitation force [Ndof, Nh, Nf] + std::vector> sc_re; + std::vector> sc_im; + std::vector> sc_ma; + std::vector> sc_ph; + + /// \brief Excitation IRF [Ndof, Nh, len(ex_t)] + std::vector> ex_K; + + /// \brief Excitation IRF time steps + std::vector ex_t; + + /// \brief Excitation IRF temporal angular frequency steps + std::vector ex_w; + + /// \brief Hydrostatic linear restoring stiffness [6, 6] + Eigen::Matrix6d K_hs = Eigen::Matrix6d::Zero(); + + // Properties + + /// \brief Number of bodies + double Nb{1}; + + /// \brief Number of wave frequencies + double Nf{0}; + + /// \brief Number of wave headings + double Nh{1}; + + /// \brief Center of buoyancy [3] + Eigen::Vector3d cb = Eigen::Vector3d::Zero(); + + /// \brief Center of gravity [3] + Eigen::Vector3d cg = Eigen::Vector3d::Zero(); + + /// \brief Displaced volume + double Vo{0.0}; + + // SimulationParameters + + /// \brief Wave periods [1, Nf] + Eigen::VectorXd T; + + /// \brief Gravitational acceleration + double g{9.81}; + + /// \brief Fluid density + double rho{1025.0}; + + /// \brief Are quantities non-dimensional? + /// + /// \note: not set correctly in HDF5 by bemio. + double scaled{1}; + + /// \brief Wave temporal angular frequencies [1, Nf] + Eigen::VectorXd w; + + /// \brief Wave directions in degrees [1, Nh] + Eigen::VectorXd theta; + }; + + /// \brief Dimensioned hydrodynamics force coefficients (constant). + /// + /// The force coefficients used in the simulation update. + /// + struct HydroForceCoeffs + { + /// \brief Hydrostatic linear restoring stiffness [6, 6] + Eigen::Matrix6d K_hs = Eigen::Matrix6d::Zero(); + + /// \brief Radiation added mass [Ndof, Ndof] + Eigen::Matrix6d A = Eigen::Matrix6d::Zero(); + + /// \brief Radiation damping [Ndof, Ndof] + Eigen::Matrix6d B = Eigen::Matrix6d::Zero(); + + /// \brief Combined excitation force [Ndof, Nh=1] + Eigen::Vector6d ex_re = Eigen::Vector6d::Zero(); + Eigen::Vector6d ex_im = Eigen::Vector6d::Zero(); + + /// \brief Froude-Krylov excitation force [Ndof, Nh=1] + Eigen::Vector6d fk_re = Eigen::Vector6d::Zero(); + Eigen::Vector6d fk_im = Eigen::Vector6d::Zero(); + + /// \brief Scattering excitation force [Ndof, Nh=1] + Eigen::Vector6d sc_re = Eigen::Vector6d::Zero(); + Eigen::Vector6d sc_im = Eigen::Vector6d::Zero(); + }; + + /// \brief Waves parameters (regular waves) + /// + /// Override priority (lowest number => highest priority) + /// 1. SDF + /// 4. Default + /// + /// \todo integrate with the waves plugin - details should be retrieved + /// from the waves entity. + /// + struct Waves + { + /// \brief Wave period (s) + double period{6.0}; + + /// \brief Wave height (m). Height = 2 * amplitude. + double height{4.0}; + + /// \brief Wave direction (rad). Zero is aligned with world x-axis. + double direction{0.0}; + + /// \brief Wave phase (rad). + double phase{0.0}; + }; + + /// \brief Simulation parameters. + /// + /// Override priority (lowest number => highest priority) + /// 1. SDF + /// 2. SDF + /// 3. SDF + /// 4. Default + /// + struct SimulationParameters + { + double g{9.81}; + double rho{1025.0}; + double T{6.0}; + double w{2.0 * GZ_PI / T}; + }; + + /// \brief Simulation parameters. + /// + /// Override priority (lowest number => highest priority) + /// 1. SDF + /// 2. SDF + /// 3. Default + /// + struct Geometry + { + /// \brief Position vector of the waterplane origin in body frame. + public: gz::math::Vector3d p_BoBwp_B = gz::math::Vector3d::Zero; + + /// \brief Position vector of the center of buoyancy in body frame. + public: gz::math::Vector3d p_BoBcb_B = gz::math::Vector3d::Zero; + + /// \brief Displaced volume. + double Vo{0.0}; + }; + + /// \brief Destructor + public: ~LinearWaveBodyPrivate(); + + /// \brief Initialize the system. + /// \param[in] _ecm Mutable reference to the EntityComponentManager. + public: void Init(EntityComponentManager &_ecm); + + /// \brief Read a WECSim HDF5 BEM data file. + /// \param[in] _ecm Mutable reference to the EntityComponentManager. + public: void ReadWECSim(EntityComponentManager &_ecm); + + /// \brief Update the physics and markers. + /// \param[in] _info Simulation update info. + /// \param[in] _ecm Mutable reference to the EntityComponentManager. + public: void Update( + const UpdateInfo &_info, EntityComponentManager &_ecm); + + /// \brief Update link state. + /// \param[in] _info Simulation update info. + /// \param[in] _ecm Mutable reference to the EntityComponentManager. + public: void UpdateLinkState( + const UpdateInfo &_info, EntityComponentManager &_ecm); + + /// \brief Update the gravity forces. + /// \param[in] _info Simulation update info. + /// \param[in] _ecm Mutable reference to the EntityComponentManager. + public: void UpdateGravityForces( + const UpdateInfo &_info, EntityComponentManager &_ecm); + + /// \brief Update the hydrostatic forces. + /// \param[in] _info Simulation update info. + /// \param[in] _ecm Mutable reference to the EntityComponentManager. + public: void UpdateHydrostaticForces( + const UpdateInfo &_info, EntityComponentManager &_ecm); + + /// \brief Update the radiation forces. + /// \param[in] _info Simulation update info. + /// \param[in] _ecm Mutable reference to the EntityComponentManager. + public: void UpdateRadiationForces( + const UpdateInfo &_info, EntityComponentManager &_ecm); + + /// \brief Update the radiation damping forces. + /// \param[in] _info Simulation update info. + /// \param[in] _ecm Mutable reference to the EntityComponentManager. + public: void UpdateRadiationDampingForces( + const UpdateInfo &_info, EntityComponentManager &_ecm); + + /// \brief Update the radiation added mass forces. + /// \param[in] _info Simulation update info. + /// \param[in] _ecm Mutable reference to the EntityComponentManager. + public: void UpdateRadiationAddedMassForces( + const UpdateInfo &_info, EntityComponentManager &_ecm); + + /// \brief Update the radiation forces. + /// \param[in] _info Simulation update info. + /// \param[in] _ecm Mutable reference to the EntityComponentManager. + public: void RadiationForcesImpulseResponseFunction( + const UpdateInfo &_info, EntityComponentManager &_ecm); + + /// \brief Update the excitation forces. + /// \param[in] _info Simulation update info. + /// \param[in] _ecm Mutable reference to the EntityComponentManager. + public: void UpdateExcitationForces( + const UpdateInfo &_info, EntityComponentManager &_ecm); + + /// \brief Model interface + public: sim::Model model{kNullEntity}; + + /// \brief Link entity + public: sim::Entity linkEntity{kNullEntity}; + + /// \brief Static pose of the link waterplane in the link frame + public: gz::math::Pose3d X_BBwp = gz::math::Pose3d::Zero; + + /// \brief Initial pose of the body waterplane in the world frame + public: gz::math::Pose3d X0_WBwp = gz::math::Pose3d::Zero; + + /// \brief Link world linear velocity at previous time-step + public: gz::math::Vector3d v_WB_W_prev = gz::math::Vector3d::Zero; + + /// \brief Link world angular velocity at previous time-step + public: gz::math::Vector3d w_WB_W_prev = gz::math::Vector3d::Zero; + + /// \brief Link state to update each time-step. + struct LinkState + { + gz::math::Pose3d X_WB; + gz::math::Pose3d X_WBcm; + gz::math::Pose3d X_WBwp; + gz::math::Pose3d X_BBcm; + gz::math::Pose3d X_BcmBwp; + + gz::math::Vector3d p_BoBcm_B; + gz::math::Vector3d p_BoBcm_W; + + gz::math::Vector3d p_BcmBcb_B; + gz::math::Vector3d p_BcmBcb_W; + + gz::math::Vector3d p_BcmBwp_Bcm; + gz::math::Vector3d p_BcmBwp_W; + }; + + /// \brief Common link state required by force calculations. + public: LinkState linkState; + + /// \brief Initialization flag + public: bool initialized{false}; + + /// \brief Copy of the sdf configuration used for this plugin + public: sdf::ElementPtr sdf; + + /// \brief Set during Load to true if the configuration for the system is + /// valid and the post-update can run + public: bool validConfig{false}; + + /// \brief Name of the world + public: std::string worldName; + + /// \brief Hydro data populated from hdf5 file. + public: HydroData hydroData; + + /// \brief Waves parameters. + public: Waves waves; + + /// \brief Simulation parameters. + public: SimulationParameters simParams; + + /// \brief Geometry parameters. + public: Geometry geometry; + + /// \brief Hydrostatic force constant coefficients used in sim update. + public: HydroForceCoeffs hydroForceCoeffs; + + /// \brief Flags to enable forces. + struct ForceFlags + { + bool gravityOn{true}; + bool buoyancyOn{true}; + bool hydrostaticRestoringOn{true}; + bool radiationDampingOn{true}; + bool radiationAddedMassOn{true}; + bool excitationOn{true}; + bool excitationFroudeKrylovOn{true}; + bool excitationScatteringOn{true}; + }; + public: ForceFlags forceFlags; + + /// \brief Flags to enable additional debug info. + struct DebugFlags + { + bool gravityOn{false}; + bool buoyancyOn{false}; + bool radiationDampingOn{false}; + bool radiationAddedMassOn{false}; + bool excitationOn{false}; + }; + public: DebugFlags debugFlags; + + // Flags to note if SDF has overridden hdf5 data + public: bool waveOverrideOn{false}; + public: bool simParamOverrideOn{false}; + public: bool geometryOverrideOn{false}; + public: bool hydrostaticOverrideOn{false}; + public: bool radiationOverrideOn{false}; + public: bool excitationOverrideOn{false}; + + /// \brief Mutex to protect wave marker updates. + public: std::recursive_mutex mutex; + + /// \brief Previous update time (s). + public: double prevTime; + + /// \brief Publishers + struct Publishers + { + double updateRate = 20; + + // Enable / disable force publishers + bool gravityOn{false}; + bool buoyancyOn{false}; + bool hydrostaticRestoringOn{false}; + bool radiationDampingOn{false}; + bool radiationAddedMassOn{false}; + bool excitationOn{false}; + bool excitationFroudeKrylovOn{false}; + bool excitationScatteringOn{false}; + + // Topic strings + std::string gravityTopic + {"/force/gravity"}; + std::string buoyancyTopic + {"/force/buoyancy"}; + std::string restoringTopic + {"/force/restoring"}; + std::string radiationDampingTopic + {"/force/radiation_damping"}; + std::string radiationAddedMassTopic + {"/force/radiation_added_mass"}; + std::string excitationTopic + {"/force/excitation"}; + std::string excitationFroudeKrylovTopic + {"/force/excitation_froude_krylov"}; + std::string excitationScatteringTopic + {"/force/excitation_scattering"}; + + // Publishers + transport::Node::Publisher gravityPub; + transport::Node::Publisher buoyancyPub; + transport::Node::Publisher restoringPub; + transport::Node::Publisher radiationDampingPubl; + transport::Node::Publisher radiationAddedMassPubl; + transport::Node::Publisher excitationPub; + transport::Node::Publisher excitationFroudeKrylovPubl; + transport::Node::Publisher excitationScatteringPub; + }; + + /// \brief Publishers + public: Publishers publishers; + + /// \brief Transport node for wave marker messages + public: transport::Node node; +}; + +///////////////////////////////////////////////// +LinearWaveBody::LinearWaveBody() : System(), + dataPtr(std::make_unique()) +{ +} + +///////////////////////////////////////////////// +LinearWaveBody::~LinearWaveBody() +{ +} + +namespace +{ + /// \todo Optimise to reduce / eliminate copies. + /// The inefficiency is because we read data + /// in Eigen Vectors and Matrices and represent + /// the coefficients as a vector of matrices rathen + /// a matrix of time series suitable for interpolation. + + /// \brief Interpolation helpers + /// + /// \param _Xd data vector + /// \param _Xi interpolation point + /// \param _Yd data vector of matrix + /// \param _Yi interpolation matrix + template + void Interp( + const Eigen::VectorXd &_Xd, + double _Xi, + const std::vector &_Yd, + Matrix *_Yi) + { + // check there is data to interpolate + if (_Xd.size() == 0) + return; + + // get dimensions + size_t nf = _Xd.size(); + size_t n1 = _Yd[0].rows(); + size_t n2 = _Yd[0].cols(); + + // convert to std::vector + std::vector Xdd; + for (size_t k=0; k> Ydd(n1*n2); + for (size_t i=0; i into the struct HydroData. +/// - override defaults for g and rho in struct SimulationParameters +/// - override defaults for cg and Vo in struc Geometry +/// +/// 2. Read the element +/// - override defaults in struct Waves +/// - override defaults for T and w in struct SimulationParameters +/// +/// 3. Read the element +/// - override defaults in struct SimulationParameters +/// +/// 4. Read the element +/// +/// 5. Look up the hydro coefficients from the hdf5 data +/// - \todo locate the index of w +/// - rescale the coefficients to dimensioned quantities +/// +/// 6. Read the elements +/// - override hydrostatic, radiation and excitation coefficients +/// if elements are present. +/// +void LinearWaveBody::Configure(const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm, + EventManager &/*_eventMgr*/) +{ + GZ_PROFILE("LinearWaveBody::Configure"); + + gzmsg << "LinearWaveBody: configuring\n"; + + // Clone sdf for non-const access. + this->dataPtr->sdf = _sdf->Clone(); + + // Get the name of the world + if (this->dataPtr->worldName.empty()) + { + _ecm.Each( + [&](const Entity &, + const components::World *, + const components::Name *_name) -> bool + { + // Assume there's only one world + this->dataPtr->worldName = _name->Data(); + return false; + }); + } + + // Capture the model entity + this->dataPtr->model = Model(_entity); + if (!this->dataPtr->model.Valid(_ecm)) + { + gzerr << "The LinearWaveBody system should be attached to a model entity. " + << "Failed to initialize." << "\n"; + return; + } + + // Set the link entity + std::string linkName("base_link"); + this->dataPtr->linkEntity = this->dataPtr->model.LinkByName(_ecm, linkName); + if (!_ecm.HasEntity(this->dataPtr->linkEntity)) + { + gzerr << "Link name" << linkName << "does not exist"; + return; + } + + /// \note Must enable world velocity and acceleration checks to register + /// components for pose, velocity and acceleration. + /// Link::AddWorldForce fails silently if not enabled. + gz::sim::Link baseLink(this->dataPtr->linkEntity); + baseLink.EnableVelocityChecks(_ecm, true); + baseLink.EnableAccelerationChecks(_ecm, true); + + // Parameters + + /// \todo set waterplane pose in parameters + this->dataPtr->X_BBwp.Pos() = gz::math::Vector3d(0, 0, 0); + + /// \todo add support for finding file in model:// or package:// dirs. + + ////////// + // 1a. read WEC-Sim hdf5 BEM file + if (_sdf->HasElement("hdf5_file")) + { + std::string fileUri = _sdf->Get("hdf5_file"); + + // Find the file path + common::SystemPaths systemPaths; + this->dataPtr->hydroData.hdf5File = systemPaths.FindFileURI(fileUri); + + this->dataPtr->ReadWECSim(_ecm); + } + else + { + gzwarn << "Missing element for HDF5 file. " + << "Check this is intentional - using overrides and defaults.\n"; + } + + /// 1b. apply overrides + if (_sdf->HasElement("hdf5_file")) + { + // simulation parameters + this->dataPtr->simParams.g = this->dataPtr->hydroData.g; + this->dataPtr->simParams.rho = this->dataPtr->hydroData.rho; + + // geometry + this->dataPtr->geometry.Vo = this->dataPtr->hydroData.Vo; + /// \todo override cg, cb, waterplane origin + } + + ////////// + // 2a. read the element + if (_sdf->HasElement("waves")) + { + this->dataPtr->waveOverrideOn = true; + + auto sdfWaves = _sdf->GetElementImpl("waves"); + + // regular waves + if (sdfWaves->HasElement("regular")) + { + auto sdfRegWaves = sdfWaves->GetElementImpl("regular"); + + if (sdfRegWaves->HasElement("period")) + this->dataPtr->waves.period = + sdfRegWaves->Get("period"); + + if (sdfRegWaves->HasElement("height")) + this->dataPtr->waves.height = + sdfRegWaves->Get("height"); + + if (sdfRegWaves->HasElement("direction")) + this->dataPtr->waves.direction = + sdfRegWaves->Get("direction"); + + if (sdfRegWaves->HasElement("phase")) + this->dataPtr->waves.phase = + sdfRegWaves->Get("phase"); + } + } + + // 2a. apply overrides + if (this->dataPtr->waveOverrideOn) + { + // simulation parameters + this->dataPtr->simParams.T = this->dataPtr->waves.period; + this->dataPtr->simParams.w = 2.0 * GZ_PI / this->dataPtr->simParams.T; + } + + ////////// + // 3a. read the element + if (_sdf->HasElement("simulation_parameters")) + { + this->dataPtr->simParamOverrideOn = true; + + auto sdfSimParams = _sdf->GetElementImpl("simulation_parameters"); + + if (sdfSimParams->HasElement("gravity")) + this->dataPtr->simParams.g = sdfSimParams->Get("gravity"); + + if (sdfSimParams->HasElement("fluid_density")) + this->dataPtr->simParams.rho = sdfSimParams->Get("fluid_density"); + } + + ////////// + // 4a. read the element. + if (_sdf->HasElement("geometry")) + { + this->dataPtr->geometryOverrideOn = true; + + auto sdfGeom = _sdf->GetElementImpl("geometry"); + + if (sdfGeom->HasElement("center_of_waterplane")) + this->dataPtr->geometry.p_BoBwp_B = + sdfGeom->Get("center_of_waterplane"); + + if (sdfGeom->HasElement("center_of_buoyancy")) + this->dataPtr->geometry.p_BoBcb_B = + sdfGeom->Get("center_of_buoyancy"); + + if (sdfGeom->HasElement("displaced_volume")) + this->dataPtr->geometry.Vo = + sdfGeom->Get("displaced_volume"); + } + + ////////// + // 5a. interpolate hydro coeffs from hdf5 data. + if (_sdf->HasElement("hdf5_file")) + { + /// \note we allow g and rho to override hdf5 values + double g = this->dataPtr->simParams.g; + double rho = this->dataPtr->simParams.rho; + + // hydrostatics + this->dataPtr->hydroForceCoeffs.K_hs = + this->dataPtr->hydroData.K_hs * rho * g; + + // interpolate and scale. + double w = this->dataPtr->simParams.w; + + // radiation added mass [Ndof, Ndof, Nf] + Interp( + this->dataPtr->hydroData.w, w, // Xd, Xi + this->dataPtr->hydroData.A, // Yd + &this->dataPtr->hydroForceCoeffs.A // Yi + ); + this->dataPtr->hydroForceCoeffs.A *= rho; + + // radiation damping [Ndof, Ndof, Nf] + Interp( + this->dataPtr->hydroData.w, w, // Xd, Xi + this->dataPtr->hydroData.B, // Yd + &this->dataPtr->hydroForceCoeffs.B // Yi + ); + this->dataPtr->hydroForceCoeffs.B *= rho * w; + + // excitation combined [Ndof, Nh, Nf] + Interp( + this->dataPtr->hydroData.w, w, // Xd, Xi + this->dataPtr->hydroData.ex_re, // Yd + &this->dataPtr->hydroForceCoeffs.ex_re // Yi + ); + this->dataPtr->hydroForceCoeffs.ex_re *= rho * g; + + Interp( + this->dataPtr->hydroData.w, w, // Xd, Xi + this->dataPtr->hydroData.ex_im, // Yd + &this->dataPtr->hydroForceCoeffs.ex_im // Yi + ); + this->dataPtr->hydroForceCoeffs.ex_im *= rho * g; + + // excitation Froude-Krylov [Ndof, Nh, Nf] + Interp( + this->dataPtr->hydroData.w, w, // Xd, Xi + this->dataPtr->hydroData.fk_re, // Yd + &this->dataPtr->hydroForceCoeffs.fk_re // Yi + ); + this->dataPtr->hydroForceCoeffs.fk_re *= rho * g; + + Interp( + this->dataPtr->hydroData.w, w, // Xd, Xi + this->dataPtr->hydroData.fk_im, // Yd + &this->dataPtr->hydroForceCoeffs.fk_im // Yi + ); + this->dataPtr->hydroForceCoeffs.fk_im *= rho * g; + + // excitation scattering [Ndof, Nh, Nf] + Interp( + this->dataPtr->hydroData.w, w, // Xd, Xi + this->dataPtr->hydroData.sc_re, // Yd + &this->dataPtr->hydroForceCoeffs.sc_re // Yi + ); + this->dataPtr->hydroForceCoeffs.sc_re *= rho * g; + + Interp( + this->dataPtr->hydroData.w, w, // Xd, Xi + this->dataPtr->hydroData.sc_im, // Yd + &this->dataPtr->hydroForceCoeffs.sc_im // Yi + ); + this->dataPtr->hydroForceCoeffs.sc_im *= rho * g; + } + + ////////// + // 6. read the elements. + sdf::ElementPtr sdfHydrostatic; + sdf::ElementPtr sdfRadiation; + sdf::ElementPtr sdfExcitation; + if (_sdf->HasElement("hydro_coeffs")) + { + auto sdfHydro = _sdf->GetElementImpl("hydro_coeffs"); + + /// \todo use the scaled parameter - current assumption is all + /// hydro coeff overrides are dimensioned. + // if (sdfHydro->HasElement("scaled")) + // double scaled = sdfHydro->Get("scaled"); + + if (sdfHydro->HasElement("hydrostatic")) + sdfHydrostatic = sdfHydro->GetElementImpl("hydrostatic"); + + if (sdfHydro->HasElement("radiation")) + sdfRadiation = sdfHydro->GetElementImpl("radiation"); + + if (sdfHydro->HasElement("excitation")) + sdfExcitation = sdfHydro->GetElementImpl("excitation"); + } + + // 6a. hydrostatic coefficients + if (sdfHydrostatic) + { + this->dataPtr->hydrostaticOverrideOn = true; + + if (sdfHydrostatic->HasElement("linear_restoring")) + { + this->dataPtr->hydroForceCoeffs.K_hs = + SdfGet(sdfHydrostatic, "linear_restoring"); + } + } + + // 6b. hydrodynamic radiation coefficients + if (sdfRadiation) + { + this->dataPtr->radiationOverrideOn = true; + + if (sdfRadiation->HasElement("added_mass")) + this->dataPtr->hydroForceCoeffs.A = + SdfGet(sdfRadiation, "added_mass"); + + if (sdfRadiation->HasElement("damping")) + this->dataPtr->hydroForceCoeffs.B = + SdfGet(sdfRadiation, "damping"); + } + + // 6c. hydrodynamic excitation coefficients + if (sdfExcitation) + { + this->dataPtr->excitationOverrideOn = true; + + if (sdfExcitation->HasElement("combined")) + { + auto sdfConstCoeff = sdfExcitation->GetElementImpl("combined"); + + if (sdfConstCoeff->HasElement("re")) + this->dataPtr->hydroForceCoeffs.ex_re = + SdfGet(sdfConstCoeff, "re"); + + if (sdfConstCoeff->HasElement("im")) + this->dataPtr->hydroForceCoeffs.ex_im = + SdfGet(sdfConstCoeff, "im"); + } + + if (sdfExcitation->HasElement("froude_krylov")) + { + auto sdfConstCoeff = sdfExcitation->GetElementImpl("froude_krylov"); + + if (sdfConstCoeff->HasElement("re")) + this->dataPtr->hydroForceCoeffs.fk_re = + SdfGet(sdfConstCoeff, "re"); + + if (sdfConstCoeff->HasElement("im")) + this->dataPtr->hydroForceCoeffs.fk_im = + SdfGet(sdfConstCoeff, "im"); + } + + if (sdfExcitation->HasElement("scattering")) + { + auto sdfConstCoeff = sdfExcitation->GetElementImpl("scattering"); + + if (sdfConstCoeff->HasElement("re")) + this->dataPtr->hydroForceCoeffs.sc_re = + SdfGet(sdfConstCoeff, "re"); + + if (sdfConstCoeff->HasElement("im")) + this->dataPtr->hydroForceCoeffs.sc_im = + SdfGet(sdfConstCoeff, "im"); + } + } + + // forces on/off parameters + if (_sdf->HasElement("forces")) + { + auto sdfForces = _sdf->GetElementImpl("forces"); + + if (sdfForces->HasElement("gravity_on")) + this->dataPtr->forceFlags.gravityOn = + sdfForces->Get("gravity_on"); + + if (sdfForces->HasElement("buoyancy_on")) + this->dataPtr->forceFlags.buoyancyOn = + sdfForces->Get("buoyancy_on"); + + if (sdfForces->HasElement("hydrostatic_restoring_on")) + this->dataPtr->forceFlags.hydrostaticRestoringOn = + sdfForces->Get("hydrostatic_restoring_on"); + + if (sdfForces->HasElement("radiation_damping_on")) + this->dataPtr->forceFlags.radiationDampingOn = + sdfForces->Get("radiation_damping_on"); + + if (sdfForces->HasElement("radiation_added_mass_on")) + this->dataPtr->forceFlags.radiationAddedMassOn = + sdfForces->Get("radiation_added_mass_on"); + + if (sdfForces->HasElement("excitation_on")) + this->dataPtr->forceFlags.excitationOn = + sdfForces->Get("excitation_on"); + + if (sdfForces->HasElement("excitation_froude_krylov_on")) + this->dataPtr->forceFlags.excitationFroudeKrylovOn = + sdfForces->Get("excitation_froude_krylov_on"); + + if (sdfForces->HasElement("excitation_scattering_on")) + this->dataPtr->forceFlags.excitationScatteringOn = + sdfForces->Get("excitation_scattering_on"); + } + + // debug on/off parameters + if (_sdf->HasElement("debug")) + { + auto sdfDebug = _sdf->GetElementImpl("debug"); + + if (sdfDebug->HasElement("gravity_on")) + this->dataPtr->debugFlags.gravityOn = + sdfDebug->Get("gravity_on"); + + if (sdfDebug->HasElement("buoyancy_on")) + this->dataPtr->debugFlags.buoyancyOn = + sdfDebug->Get("buoyancy_on"); + + if (sdfDebug->HasElement("radiation_damping_on")) + this->dataPtr->debugFlags.radiationDampingOn = + sdfDebug->Get("radiation_damping_on"); + + if (sdfDebug->HasElement("radiation_added_mass_on")) + this->dataPtr->debugFlags.radiationAddedMassOn = + sdfDebug->Get("radiation_added_mass_on"); + + if (sdfDebug->HasElement("excitation_on")) + this->dataPtr->debugFlags.excitationOn = + sdfDebug->Get("excitation_on"); + } + + // publishers + if (_sdf->HasElement("publishers")) + { + auto sdPub = _sdf->GetElementImpl("publishers"); + + if (sdPub->HasElement("update_rate")) + this->dataPtr->publishers.updateRate = + sdPub->Get("update_rate"); + + if (sdPub->HasElement("gravity_on")) + this->dataPtr->publishers.gravityOn = + sdPub->Get("gravity_on"); + if (sdPub->HasElement("gravity_topic")) + this->dataPtr->publishers.gravityTopic = + sdPub->Get("gravity_topic"); + + if (sdPub->HasElement("buoyancy_on")) + this->dataPtr->publishers.buoyancyOn = + sdPub->Get("buoyancy_on"); + if (sdPub->HasElement("buoyancy_topic")) + this->dataPtr->publishers.buoyancyTopic = + sdPub->Get("buoyancy_topic"); + + if (sdPub->HasElement("hydrostatic_restoring_on")) + this->dataPtr->publishers.hydrostaticRestoringOn = + sdPub->Get("hydrostatic_restoring_on"); + if (sdPub->HasElement("hydrostatic_restoring_topic")) + this->dataPtr->publishers.restoringTopic = + sdPub->Get("hydrostatic_restoring_topic"); + + if (sdPub->HasElement("radiation_damping_on")) + this->dataPtr->publishers.radiationDampingOn = + sdPub->Get("radiation_damping_on"); + if (sdPub->HasElement("radiation_damping_topic")) + this->dataPtr->publishers.radiationDampingTopic = + sdPub->Get("radiation_damping_topic"); + + if (sdPub->HasElement("radiation_added_mass_on")) + this->dataPtr->publishers.radiationAddedMassOn = + sdPub->Get("radiation_added_mass_on"); + if (sdPub->HasElement("radiation_added_mass_topic")) + this->dataPtr->publishers.radiationAddedMassTopic = + sdPub->Get("radiation_added_mass_topic"); + + if (sdPub->HasElement("excitation_on")) + this->dataPtr->publishers.excitationOn = + sdPub->Get("excitation_on"); + if (sdPub->HasElement("excitation_topic")) + this->dataPtr->publishers.excitationTopic = + sdPub->Get("excitation_topic"); + + if (sdPub->HasElement("excitation_froude_krylov_on")) + this->dataPtr->publishers.excitationFroudeKrylovOn = + sdPub->Get("excitation_froude_krylov_on"); + if (sdPub->HasElement("excitation_froude_krylov_topic")) + this->dataPtr->publishers.excitationFroudeKrylovTopic = + sdPub->Get("excitation_froude_krylov_topic"); + + if (sdPub->HasElement("excitation_scattering_on")) + this->dataPtr->publishers.excitationScatteringOn = + sdPub->Get("excitation_scattering_on"); + if (sdPub->HasElement("excitation_scattering_topic")) + this->dataPtr->publishers.excitationScatteringTopic = + sdPub->Get("excitation_scattering_topic"); + } + + /// \todo add checks + + // Create publishers + if (this->dataPtr->publishers.gravityOn) + { + this->dataPtr->publishers.gravityPub = + this->dataPtr->node.Advertise( + this->dataPtr->publishers.gravityTopic); + } + if (this->dataPtr->publishers.buoyancyOn) + { + this->dataPtr->publishers.buoyancyPub = + this->dataPtr->node.Advertise( + this->dataPtr->publishers.buoyancyTopic); + } + if (this->dataPtr->publishers.hydrostaticRestoringOn) + { + this->dataPtr->publishers.restoringPub = + this->dataPtr->node.Advertise( + this->dataPtr->publishers.restoringTopic); + } + if (this->dataPtr->publishers.radiationDampingOn) + { + this->dataPtr->publishers.radiationDampingPubl = + this->dataPtr->node.Advertise( + this->dataPtr->publishers.radiationDampingTopic); + } + if (this->dataPtr->publishers.radiationAddedMassOn) + { + this->dataPtr->publishers.radiationAddedMassPubl = + this->dataPtr->node.Advertise( + this->dataPtr->publishers.radiationAddedMassTopic); + } + if (this->dataPtr->publishers.excitationOn) + { + this->dataPtr->publishers.excitationPub = + this->dataPtr->node.Advertise( + this->dataPtr->publishers.excitationTopic); + } + if (this->dataPtr->publishers.excitationFroudeKrylovOn) + { + this->dataPtr->publishers.excitationFroudeKrylovPubl = + this->dataPtr->node.Advertise( + this->dataPtr->publishers.excitationFroudeKrylovTopic); + } + if (this->dataPtr->publishers.excitationScatteringOn) + { + this->dataPtr->publishers.excitationScatteringPub = + this->dataPtr->node.Advertise( + this->dataPtr->publishers.excitationScatteringTopic); + } + + // display plugin parameters + { + gzmsg << "LinearWaveBody plugin parameters\n" + << ": " + << this->dataPtr->forceFlags.gravityOn << "\n" + << ": " + << this->dataPtr->forceFlags.buoyancyOn << "\n" + << ": " + << this->dataPtr->forceFlags.hydrostaticRestoringOn << "\n" + << ": " + << this->dataPtr->forceFlags.radiationDampingOn << "\n" + << ": " + << this->dataPtr->forceFlags.radiationAddedMassOn << "\n" + << ": " + << this->dataPtr->forceFlags.excitationOn << "\n" + << ": " + << this->dataPtr->forceFlags.excitationFroudeKrylovOn << "\n" + << ": " + << this->dataPtr->forceFlags.excitationScatteringOn << "\n"; + } + + // display wave parameters + { + gzmsg << "Wave Parameters\n" + << ": " + << this->dataPtr->waves.period << "\n" + << ": " + << this->dataPtr->waves.height << "\n" + << ": " + << this->dataPtr->waves.direction << "\n" + << ": " + << this->dataPtr->waves.phase << "\n"; + } + + // display simulation parameters + { + gzmsg << "Simulation Parameters\n" + << ": " + << this->dataPtr->simParams.g << "\n" + << ": " + << this->dataPtr->simParams.rho << "\n" + << "T: " + << this->dataPtr->simParams.T << "\n" + << "w: " + << this->dataPtr->simParams.w << "\n"; + } + + // display geometry parameters + { + gzmsg << "Geometry Parameters\n" + << ": " + << this->dataPtr->geometry.p_BoBwp_B << "\n" + << ": " + << this->dataPtr->geometry.p_BoBcb_B << "\n" + << ": " + << this->dataPtr->geometry.Vo << "\n"; + } + + // display hydrostatic parameters + { + gzmsg << "Hydrostatic Coefficients\n" + << ":\n" + << this->dataPtr->hydroForceCoeffs.K_hs << "\n"; + } + + // display radiation parameters + { + gzmsg << "Radiation Coefficients\n" + << ":\n" + << this->dataPtr->hydroForceCoeffs.A << "\n" + << ":\n" + << this->dataPtr->hydroForceCoeffs.B << "\n"; + } + + // display excitation parameters + { + gzmsg << "Excitation Coefficients\n" + << ":\n" + << this->dataPtr->hydroForceCoeffs.ex_re.transpose() << "\n" + << ":\n" + << this->dataPtr->hydroForceCoeffs.ex_im.transpose() << "\n" + << ":\n" + << this->dataPtr->hydroForceCoeffs.fk_re.transpose() << "\n" + << ":\n" + << this->dataPtr->hydroForceCoeffs.fk_im.transpose() << "\n" + << ":\n" + << this->dataPtr->hydroForceCoeffs.sc_re.transpose() << "\n" + << ":\n" + << this->dataPtr->hydroForceCoeffs.sc_im.transpose() << "\n"; + } + + /// Radiation added mass - constant coeffients + /// + /// \note incorporating added mass terms in the physics solver + /// + /// Gazebo Garden (sdformat13) allows an added mass term to be included + /// in the element according to the proposal: + /// + /// http://sdformat.org/tutorials?tut=added_mass_proposal&branch=chapulina/added_mass + /// + /// An entry for the fluid added mass has been added to the Inertial class + /// in gz-math7 and is accessed using the method Inertial::FluidAddedMass. + /// + /// The following issues and PRs track including the fluid added mass in + /// the DART physics engine. + /// - https://github.com/gazebosim/gz-sim/pull/1592 + /// - https://github.com/gazebosim/gz-math/pull/459 + /// - https://github.com/gazebosim/sdformat/pull/1077 + /// - https://github.com/gazebosim/gz-physics/pull/384 + /// - https://github.com/gazebosim/gz-msgs/pull/271 + /// + if (this->dataPtr->forceFlags.radiationAddedMassOn) + { + // parameters + Eigen::Matrix6d& A = this->dataPtr->hydroForceCoeffs.A; + + // convert from Eigen to gz + gz::math::Matrix6d gzA; + for (size_t i=0; i<6; ++i) + for (size_t j=0; j<6; ++j) + gzA(i, j) = A(i, j); + + auto inertialComp = _ecm.Component(baseLink.Entity()); + if (this->dataPtr->debugFlags.radiationAddedMassOn) + { + gzmsg << "Setting Fluid Added Mass\n" + << gzA << "\n"; + } + inertialComp->Data().SetFluidAddedMass(gzA); + } +} + +////////////////////////////////////////////////// +void LinearWaveBody::PreUpdate( + const gz::sim::UpdateInfo &_info, + gz::sim::EntityComponentManager &_ecm) +{ + GZ_PROFILE("LinearWaveBody::PreUpdate"); + + /// \todo(anyone) support reset / rewind + if (_info.dt < std::chrono::steady_clock::duration::zero()) + { + gzwarn << "Detected jump back in time [" + << std::chrono::duration_cast(_info.dt).count() + << "s]. System may not work properly." << "\n"; + } + + if (!this->dataPtr->initialized) + { + // We call Init here instead of Configure because we can't be guaranteed + // that all entities have been created when Configure is called + this->dataPtr->Init(_ecm); + this->dataPtr->initialized = true; + } + + if (_info.paused) + return; + + if (this->dataPtr->initialized && this->dataPtr->validConfig) + { + this->dataPtr->Update(_info, _ecm); + } +} + +////////////////////////////////////////////////// +////////////////////////////////////////////////// +LinearWaveBodyPrivate::~LinearWaveBodyPrivate() +{ +}; + +///////////////////////////////////////////////// +void LinearWaveBodyPrivate::Init(EntityComponentManager &_ecm) +{ + // initial pose of the link in the world frame + gz::math::Pose3d X_WB = gz::sim::worldPose(this->linkEntity, _ecm); + + // adjust for x-y position only (assume free surface is at z=0) + this->X0_WBwp = gz::math::Pose3d::Zero; + this->X0_WBwp.Pos().X() += X_WB.Pos().X(); + this->X0_WBwp.Pos().Y() += X_WB.Pos().Y(); + + this->validConfig = true; +} + +/// \brief Helpers for reading vectors of Eigen::Matrix6d from data sets. +namespace +{ + void ReadDataSet( + const HighFive::File& _file, + const std::string& _name, + std::vector *_array) + { + auto dset = _file.getDataSet(_name); + auto dim = dset.getDimensions(); + _array->resize(dim[2]); + std::vector columns{0}; + for (size_t i=0; i> *_array) + { + auto dset = _file.getDataSet(_name); + auto dim = dset.getDimensions(); + _array->resize(dim[2]); + std::vector element_ids{0, 0, 0}; + for (size_t i=0; ihydroData; + + if (hydro.hdf5File.empty()) + return; + + // Read hdf5 data + HighFive::File file(hydro.hdf5File, HighFive::File::ReadOnly); + + // radiation added mass infinite frequency + if (file.exist("/body1/hydro_coeffs/added_mass/inf_freq")) + file.getDataSet("/body1/hydro_coeffs/added_mass/inf_freq") + .read(hydro.Ainf); + + // radiation added mass has dimension 6 x 6 x Nf + if (file.exist("/body1/hydro_coeffs/added_mass/all")) + ReadDataSet(file, "/body1/hydro_coeffs/added_mass/all", &hydro.A); + + // radiation damping has dimension 6 x 6 x Nf + if (file.exist("/body1/hydro_coeffs/radiation_damping/all")) + ReadDataSet(file, "/body1/hydro_coeffs/radiation_damping/all", &hydro.B); + + // radiation IRF has dimension 6 x 6 x len(ra_t) + std::string dsetpath; + dsetpath = "/body1/hydro_coeffs/radiation_damping/impulse_response_fun"; + if (file.exist(dsetpath + "/K")) + ReadDataSet(file, dsetpath + "/K", &hydro.ra_K); + if (file.exist(dsetpath + "/t")) + file.getDataSet(dsetpath + "/t").read(hydro.ra_t); + if (file.exist(dsetpath + "/w")) + file.getDataSet(dsetpath + "/w").read(hydro.ra_w); + + // excitation force has dimension 6 x Nh x Nf + // + dsetpath = "/body1/hydro_coeffs/excitation"; + if (file.exist(dsetpath + "/re")) + ReadDataSet(file, dsetpath + "/re", &hydro.ex_re); + if (file.exist(dsetpath + "/im")) + ReadDataSet(file, dsetpath + "/im", &hydro.ex_im); + if (file.exist(dsetpath + "/mag")) + ReadDataSet(file, dsetpath + "/mag", &hydro.ex_ma); + if (file.exist(dsetpath + "/phase")) + ReadDataSet(file, dsetpath + "/phase", &hydro.ex_ph); + + // excitation froude-krylov force has dimension 6 x Nh x Nf + // + dsetpath = "/body1/hydro_coeffs/excitation/froude-krylov"; + if (file.exist(dsetpath + "/re")) + ReadDataSet(file, dsetpath + "/re", &hydro.fk_re); + if (file.exist(dsetpath + "/im")) + ReadDataSet(file, dsetpath + "/im", &hydro.fk_im); + if (file.exist(dsetpath + "/mag")) + ReadDataSet(file, dsetpath + "/mag", &hydro.fk_ma); + if (file.exist(dsetpath + "/phase")) + ReadDataSet(file, dsetpath + "/phase", &hydro.fk_ph); + + // excitation scattering force has dimension 6 x Nh x Nf + // + dsetpath = "/body1/hydro_coeffs/excitation/scattering"; + if (file.exist(dsetpath + "/re")) + ReadDataSet(file, dsetpath + "/re", &hydro.sc_re); + if (file.exist(dsetpath + "/im")) + ReadDataSet(file, dsetpath + "/im", &hydro.sc_im); + if (file.exist(dsetpath + "/mag")) + ReadDataSet(file, dsetpath + "/mag", &hydro.sc_ma); + if (file.exist(dsetpath + "/phase")) + ReadDataSet(file, dsetpath + "/phase", &hydro.sc_ph); + + // excitation IRF has dimension 6 x Nh x len(ra_t) + dsetpath = "/body1/hydro_coeffs/excitation/impulse_response_fun"; + if (file.exist(dsetpath + "/f")) + ReadDataSet(file, dsetpath + "/f", &hydro.ex_K); + if (file.exist(dsetpath + "/t")) + file.getDataSet(dsetpath + "/t").read(hydro.ex_t); + if (file.exist(dsetpath + "/w")) + file.getDataSet(dsetpath + "/w").read(hydro.ex_w); + + if (file.exist("/body1/hydro_coeffs/linear_restoring_stiffness")) + file.getDataSet("/body1/hydro_coeffs/linear_restoring_stiffness") + .read(hydro.K_hs); + + // properties + dsetpath = "/body1/properties"; + if (file.exist(dsetpath + "/body_number")) + file.getDataSet(dsetpath + "/body_number").read(hydro.Nb); + if (file.exist(dsetpath + "/cb")) + file.getDataSet(dsetpath + "/cb").read(hydro.cb); + if (file.exist(dsetpath + "/cg")) + file.getDataSet(dsetpath + "/cg").read(hydro.cg); + if (file.exist(dsetpath + "/disp_vol")) + file.getDataSet(dsetpath + "/disp_vol").read(hydro.Vo); + + /// \todo issue reading fixed length strings + /// https://github.com/BlueBrain/HighFive/issues/94 + /// https://github.com/BlueBrain/HighFive/pull/277 + // HighFive::FixedLenStringArray<50> name; + // file.getDataSet("body1/properties/name").read(name); + + // simulation_parameters + dsetpath = "/simulation_parameters"; + if (file.exist(dsetpath + "/T")) + file.getDataSet(dsetpath + "/T").read(hydro.T); + if (file.exist(dsetpath + "/g")) + file.getDataSet(dsetpath + "/g").read(hydro.g); + if (file.exist(dsetpath + "/rho")) + file.getDataSet(dsetpath + "/rho").read(hydro.rho); + if (file.exist(dsetpath + "/scaled")) + file.getDataSet(dsetpath + "/scaled").read(hydro.scaled); + if (file.exist(dsetpath + "/w")) + file.getDataSet(dsetpath + "/w").read(hydro.w); + if (file.exist(dsetpath + "/wave_dir")) + file.getDataSet(dsetpath + "/wave_dir").read(hydro.theta); + + // set number of wave frequencies + hydro.Nf = hydro.w.size(); + + gzmsg << "Loaded HDF5 data:\n" + << "hdf5_file: " << hydro.hdf5File << "\n"; + + // radiation added mass + { + gzmsg << "HDF5 Added Mass Inf Freq:\n" + << "/body1/hydro_coeffs/added_mass/inf_freq\n" + << "Ainf_00: " << hydro.Ainf(0, 0) << "\n" + << "Ainf_11: " << hydro.Ainf(1, 1) << "\n" + << "Ainf_22: " << hydro.Ainf(2, 2) << "\n"; + } + + // radiation added mass + if (!hydro.A.empty()) + { + gzmsg << "HDF5 Added Mass Coefficients:\n" + << "/body1/hydro_coeffs/added_mass/all\n" + << "A.size(): " << hydro.A.size() << "\n" + << "A_000: " << hydro.A[0](0, 0) << "\n" + << "A_011: " << hydro.A[0](1, 1) << "\n" + << "A_022: " << hydro.A[0](2, 2) << "\n"; + } + + // radiation damping + if (!hydro.B.empty()) + { + gzmsg << "HDF5 Radiation Damping Coefficients:\n" + << "/body1/hydro_coeffs/radiation_damping/all\n" + << "B.size(): " << hydro.B.size() << "\n" + << "B_000: " << hydro.B[0](0, 0) << "\n" + << "B_011: " << hydro.B[0](1, 1) << "\n" + << "B_022: " << hydro.B[0](2, 2) << "\n"; + } + + // radiation IRF + if (!hydro.ra_K.empty() && !hydro.ra_t.empty() && !hydro.ra_t.empty()) + { + gzmsg << "HDF5 Radiation IRF Coefficients:\n" + << "/body1/hydro_coeffs/radiation_damping/impulse_response_fun/K\n" + << "ra_K.size(): " << hydro.ra_K.size() << "\n" + << "ra_K_000: " << hydro.ra_K[0](0, 0) << "\n" + << "ra_K_011: " << hydro.ra_K[0](1, 1) << "\n" + << "ra_K_022: " << hydro.ra_K[0](2, 2) << "\n" + + << "/body1/hydro_coeffs/radiation_damping/impulse_response_fun/t\n" + << "ra_t.size(): " << hydro.ra_t.size() << "\n" + << "ra_t_0: " << hydro.ra_t[0] << "\n" + << "ra_t_n: " << hydro.ra_t[hydro.ra_t.size()-1] << "\n" + + << "/body1/hydro_coeffs/radiation_damping/impulse_response_fun/w\n" + << "ra_w.size(): " << hydro.ra_w.size() << "\n" + << "ra_w_0: " << hydro.ra_w[0] << "\n" + << "ra_w_n: " << hydro.ra_w[hydro.ra_w.size()-1] << "\n"; + } + + // combined excitation + if (!hydro.ex_re.empty() && !hydro.ex_im.empty() && + !hydro.ex_ma.empty() && !hydro.ex_ph.empty()) + { + gzmsg << "HDF5 Combined Excitation Coefficients:\n" + << "/body1/hydro_coeffs/excitation/re\n" + << "ex_re.size(): " << hydro.ex_re.size() << "\n" + << "ex_re_000: " << hydro.ex_re[0](0, 0) << "\n" + << "ex_re_001: " << hydro.ex_re[0](1, 0) << "\n" + + << "/body1/hydro_coeffs/excitation/im\n" + << "ex_im.size(): " << hydro.ex_im.size() << "\n" + << "ex_im_000: " << hydro.ex_im[0](0, 0) << "\n" + << "ex_im_001: " << hydro.ex_im[0](1, 0) << "\n" + + << "/body1/hydro_coeffs/excitation/ma\n" + << "ex_ma.size(): " << hydro.ex_ma.size() << "\n" + << "ex_ma_000: " << hydro.ex_ma[0](0, 0) << "\n" + << "ex_ma_001: " << hydro.ex_ma[0](1, 0) << "\n" + + << "/body1/hydro_coeffs/excitation/ph\n" + << "ex_ph.size(): " << hydro.ex_ph.size() << "\n" + << "ex_ph_000: " << hydro.ex_ph[0](0, 0) << "\n" + << "ex_ph_001: " << hydro.ex_ph[0](1, 0) << "\n"; + } + + // froude-krylov + if (!hydro.fk_re.empty() && !hydro.fk_im.empty() && + !hydro.fk_ma.empty() && !hydro.fk_ph.empty()) + { + gzmsg << "HDF5 Excitation Froude-Krylov Coefficients:\n" + << "/body1/hydro_coeffs/excitation/froude-krylov/re\n" + << "fk_re.size(): " << hydro.fk_re.size() << "\n" + << "fk_re_000: " << hydro.fk_re[0](0, 0) << "\n" + << "fk_re_001: " << hydro.fk_re[0](1, 0) << "\n" + + << "/body1/hydro_coeffs/excitation/froude-krylov/im\n" + << "fk_im.size(): " << hydro.fk_im.size() << "\n" + << "fk_im_000: " << hydro.fk_im[0](0, 0) << "\n" + << "fk_im_001: " << hydro.fk_im[0](1, 0) << "\n" + + << "/body1/hydro_coeffs/excitation/froude-krylov/ma\n" + << "fk_ma.size(): " << hydro.fk_ma.size() << "\n" + << "fk_ma_000: " << hydro.fk_ma[0](0, 0) << "\n" + << "fk_ma_001: " << hydro.fk_ma[0](1, 0) << "\n" + + << "/body1/hydro_coeffs/excitation/froude-krylov/ph\n" + << "fk_ph.size(): " << hydro.fk_ph.size() << "\n" + << "fk_ph_000: " << hydro.fk_ph[0](0, 0) << "\n" + << "fk_ph_001: " << hydro.fk_ph[0](1, 0) << "\n"; + } + + // scattering + if (!hydro.sc_re.empty() && !hydro.sc_im.empty() && + !hydro.sc_ma.empty() && !hydro.sc_ph.empty()) + { + gzmsg << "HDF5 Excitation Scattering Coefficients:\n" + << "/body1/hydro_coeffs/excitation/scattering/re\n" + << "sc_re.size(): " << hydro.sc_re.size() << "\n" + << "sc_re_000: " << hydro.sc_re[0](0, 0) << "\n" + << "sc_re_001: " << hydro.sc_re[0](1, 0) << "\n" + + << "/body1/hydro_coeffs/excitation/scattering/im\n" + << "sc_im.size(): " << hydro.sc_im.size() << "\n" + << "sc_im_000: " << hydro.sc_im[0](0, 0) << "\n" + << "sc_im_001: " << hydro.sc_im[0](1, 0) << "\n" + + << "/body1/hydro_coeffs/excitation/scattering/ma\n" + << "sc_ma.size(): " << hydro.sc_ma.size() << "\n" + << "sc_ma_000: " << hydro.sc_ma[0](0, 0) << "\n" + << "sc_ma_001: " << hydro.sc_ma[0](1, 0) << "\n" + + << "/body1/hydro_coeffs/excitation/scattering/ph\n" + << "sc_ph.size(): " << hydro.sc_ph.size() << "\n" + << "sc_ph_000: " << hydro.sc_ph[0](0, 0) << "\n" + << "sc_ph_001: " << hydro.sc_ph[0](1, 0) << "\n"; + } + + // excitation IRF + if (!hydro.ex_K.empty() && !hydro.ex_t.empty() && !hydro.ex_w.empty()) + { + gzmsg << "HDF5 Excitation IRF Coefficients:\n" + << "body1/hydro_coeffs/excitation/impulse_response_fun/f\n" + << "ex_K.size(): " << hydro.ex_K.size() << "\n" + << "ex_K_000: " << hydro.ex_K[0](0, 0) << "\n" + << "ex_K_011: " << hydro.ex_K[0](1, 1) << "\n" + << "ex_K_022: " << hydro.ex_K[0](2, 2) << "\n" + + << "body1/hydro_coeffs/excitation/impulse_response_fun/t\n" + << "ex_t.size(): " << hydro.ex_t.size() << "\n" + << "ex_t_0: " << hydro.ex_t[0] << "\n" + << "ex_t_n: " << hydro.ex_t[hydro.ex_t.size()-1] << "\n" + + << "body1/hydro_coeffs/excitation/impulse_response_fun/w\n" + << "ex_w.size(): " << hydro.ex_w.size() << "\n" + << "ex_w_0: " << hydro.ex_w[0] << "\n" + << "ex_w_n: " << hydro.ex_w[hydro.ex_w.size()-1] << "\n"; + } + + // linear hydrostatic restoring coefficients + { + gzmsg << "HDF5 Hydrostatic Coefficients:\n" + << "body1/hydro_coeffs/linear_restoring_stiffness\n" + << "K_hs_22: " << hydro.K_hs(2, 2) << "\n" + << "K_hs_33: " << hydro.K_hs(3, 3) << "\n" + << "K_hs_44: " << hydro.K_hs(4, 4) << "\n"; + } + + // body properties + { + gzmsg << "HDF5 Body Properties:\n" + << "body1/properties/body_number\n" + << "body_number: " << hydro.Nb << "\n" + + << "body1/properties/cb\n" + << "cb: " << hydro.cb(0) << ", " + << hydro.cb(1) << ", " + << hydro.cb(2) << "\n" + + << "body1/properties/cg\n" + << "cb: " << hydro.cg(0) << ", " + << hydro.cg(1) << ", " + << hydro.cg(2) << "\n" + + << "body1/properties/disp_vol\n" + << "disp_vol: " << hydro.Vo << "\n"; + } + + // simulation properties + { + gzmsg << "HDF5 Simulation Parameters:\n" + << "simulation_parameters/T\n" + << "T.size(): " << hydro.T.size() << "\n" + + << "simulation_parameters/g\n" + << "g: " << hydro.g << "\n" + + << "simulation_parameters/rho\n" + << "rho: " << hydro.rho << "\n" + + << "simulation_parameters/scaled\n" + << "scaled: " << hydro.scaled << "\n" + + << "simulation_parameters/w\n" + << "Nf: " << hydro.Nf << "\n" + + << "simulation_parameters/wave_dir\n" + << "Nh: " << hydro.Nh << "\n" + << "\n"; + } +} + +///////////////////////////////////////////////// +void LinearWaveBodyPrivate::Update(const UpdateInfo &_info, + EntityComponentManager &_ecm) +{ + this->UpdateLinkState(_info, _ecm); + this->UpdateGravityForces(_info, _ecm); + this->UpdateHydrostaticForces(_info, _ecm); + this->UpdateRadiationForces(_info, _ecm); + this->UpdateExcitationForces(_info, _ecm); + + /// \todo improve / consolidate + // update prevTime after all updates have checked for publishing + double updatePeriod = 1.0/this->publishers.updateRate; + double currentTime = std::chrono::duration(_info.simTime).count(); + if ((currentTime - this->prevTime) < updatePeriod) + { + this->prevTime = currentTime; + } +} + +///////////////////////////////////////////////// +void LinearWaveBodyPrivate::UpdateLinkState(const UpdateInfo &/*_info*/, + EntityComponentManager &_ecm) +{ + // link properties + gz::sim::Link baseLink(this->linkEntity); + auto inertial = _ecm.Component(this->linkEntity); + // double mass = inertial->Data().MassMatrix().Mass(); + + // update pose of body in world frame + this->linkState.X_WB = gz::sim::worldPose(this->linkEntity, _ecm); + + // pose of body CoM in world frame + this->linkState.X_BBcm = inertial->Data().Pose(); + this->linkState.X_WBcm = this->linkState.X_WB * this->linkState.X_BBcm; + + // pose of body waterplane in body CoM frame + this->linkState.X_BcmBwp = this->linkState.X_BBcm.Inverse() * this->X_BBwp; + + // pose of body waterplane in world frame + this->linkState.X_WBwp = this->linkState.X_WB * this->X_BBwp; + + // position vector of body CoM wrt body origin in body/world frame + this->linkState.p_BoBcm_B = this->linkState.X_BBcm.Pos(); + this->linkState.p_BoBcm_W = + this->linkState.X_WB.Rot().RotateVector(this->linkState.p_BoBcm_B); + + // position vector of body waterplane wrt body CoM in world body/world frame + this->linkState.p_BcmBwp_Bcm = this->linkState.X_BcmBwp.Pos(); + this->linkState.p_BcmBwp_W = + this->linkState.X_WBcm.Rot().RotateVector(this->linkState.p_BcmBwp_Bcm); + + // position vector of body center of buoyancy + Eigen::Vector3d& cb = this->hydroData.cb; + Eigen::Vector3d& cg = this->hydroData.cg; + Eigen::Vector3d p_BcmBcb = cb - cg; + + // position vector of body CoB wrt body CoM in body/world frame + this->linkState.p_BcmBcb_B = + gz::math::Vector3d(p_BcmBcb(0), p_BcmBcb(1), p_BcmBcb(2)); + this->linkState.p_BcmBcb_W = + this->linkState.X_WB.Rot().RotateVector(this->linkState.p_BcmBcb_B); + + // enable for additional debug info + if (this->debugFlags.buoyancyOn || + this->debugFlags.radiationDampingOn || + this->debugFlags.radiationAddedMassOn || + this->debugFlags.excitationOn) + { + gzdbg << "Link State\n" + << "X_BcmBwp.Pos: " << this->linkState.X_BcmBwp.Pos() << " m\n" + + << "X_BBcm.Pos: " << this->linkState.X_BBcm.Pos() << " m\n" + << "X_BBwp.Pos: " << this->X_BBwp.Pos() << " m\n" + + << "X_WB.Pos: " << this->linkState.X_WB.Pos() << " m\n" + << "X_WBcm.Pos: " << this->linkState.X_WBcm.Pos() << " m\n" + << "X_WBwp.Pos: " << this->linkState.X_WBwp.Pos() << " m\n" + + << "X_BcmBwp.Rot: " << this->linkState.X_BcmBwp.Rot().Roll() << " " + << this->linkState.X_BcmBwp.Rot().Pitch() << " " + << this->linkState.X_BcmBwp.Rot().Yaw() + << " rad\n" + + << "X_BBcm.Rot: " << this->linkState.X_BBcm.Rot().Roll() << " " + << this->linkState.X_BBcm.Rot().Pitch() << " " + << this->linkState.X_BBcm.Rot().Yaw() + << " rad\n" + << "X_BBwp.Rot: " << this->X_BBwp.Rot().Roll() << " " + << this->X_BBwp.Rot().Pitch() << " " + << this->X_BBwp.Rot().Yaw() + << " rad\n" + + << "X_WB.Rot: " << this->linkState.X_WB.Rot().Roll() << " " + << this->linkState.X_WB.Rot().Pitch() << " " + << this->linkState.X_WB.Rot().Yaw() + << " rad\n" + << "X_WBcm.Rot: " << this->linkState.X_WBcm.Rot().Roll() << " " + << this->linkState.X_WBcm.Rot().Pitch() << " " + << this->linkState.X_WBcm.Rot().Yaw() + << " rad\n" + << "X_WBwp.Rot: " << this->linkState.X_WBwp.Rot().Roll() << " " + << this->linkState.X_WBwp.Rot().Pitch() << " " + << this->linkState.X_WBwp.Rot().Yaw() + << " rad\n" + + << "p_BcmBwp_Bcm: " << this->linkState.p_BcmBwp_Bcm << " m\n" + << "p_BcmBcb_B: " << this->linkState.p_BcmBcb_B << " m\n" + << "p_BoBcm_B: " << this->linkState.p_BoBcm_B << " m\n" + + << "p_BcmBwp_W: " << this->linkState.p_BcmBwp_W << " m\n" + << "p_BcmBcb_W: " << this->linkState.p_BcmBcb_W << " m\n" + << "p_BoBcm_W: " << this->linkState.p_BoBcm_W << " m\n" + + << "\n"; + } +} + +///////////////////////////////////////////////// +/// \brief Calculate the gravity force. +/// +/// Global gravity must be disabled when using added mass because the physics +/// engine will combine the added mass with the body inertial mass to calculate +/// the gravitational force - and the force will be too large. +void LinearWaveBodyPrivate::UpdateGravityForces(const UpdateInfo &_info, + EntityComponentManager &_ecm) +{ + // short circuit if forces disabled + if (!this->forceFlags.gravityOn) + return; + + // simulation params + double g = this->simParams.g; + + // link properties + gz::sim::Link baseLink(this->linkEntity); + auto inertial = _ecm.Component(this->linkEntity); + double mass = inertial->Data().MassMatrix().Mass(); + + // gravity force + gz::math::Vector3d fgr_Bcm_W(0.0, 0.0, - mass * g); + + if (this->debugFlags.gravityOn) + { + gzdbg << "Gravity Forces\n" + << "fgr_Bcm_W " << fgr_Bcm_W << " N\n" + << "\n"; + } + + // apply forces at CoM + if (fgr_Bcm_W.IsFinite()) + { + baseLink.AddWorldForce(_ecm, fgr_Bcm_W); + } + + // publish forces periodically + double updatePeriod = 1.0/this->publishers.updateRate; + double currentTime = std::chrono::duration(_info.simTime).count(); + if (this->publishers.gravityOn && + (currentTime - this->prevTime) < updatePeriod) + { + gz::msgs::Wrench msg; + msgs::Set(msg.mutable_force(), fgr_Bcm_W); + msgs::Set(msg.mutable_torque(), gz::math::Vector3d::Zero); + this->publishers.gravityPub.Publish(msg); + } +} + +///////////////////////////////////////////////// +/// \brief Calculate the hydrostatic equilibrium and restoring forces. +/// +/// There are two comtributions to the hydrostatic force in the linear model. +/// +/// 1. The first term is the equilibrium hydrostatic force. In Newman p293 +/// these terms cancel because the force and moments due to gravity are +/// included, however in gz-sim gravity forces are computed externally so +/// the equilibrium contributions must be included. +/// +/// 2. The second term is a restoring force arising from small displacements +/// from the equilibrium position. These forces are assumed linear in the +/// dispacement and take the form of a generalised spring equation of the +/// form +/// +/// F_hr = - K_hs * Xsi +/// +/// where Xsi is a 6 x 1 vector of displacements and K_hs is the 6 x 6 +/// hydrostatic stiffness matrix. +/// +void LinearWaveBodyPrivate::UpdateHydrostaticForces(const UpdateInfo &_info, + EntityComponentManager &_ecm) +{ + // short circuit if forces disabled + if (!this->forceFlags.buoyancyOn && + !this->forceFlags.hydrostaticRestoringOn) + return; + + // parameters + double g = this->simParams.g; + double rho = this->simParams.rho; + double Vo = this->geometry.Vo; + Eigen::Matrix6d& K_hs = this->hydroForceCoeffs.K_hs; + + /// \todo check whether to add correction - in WEC-Sim buoyancy force is + /// applied at CoB not CoM, so there is an additional moment. This + /// to be compared with the point of application in the linear model, + /// which seems to apply all forces at the origin of the waterplane? + + // center of buoyancy in link frame (i.e. wrt link origin) + // Eigen::Vector3d& cb = this->hydroData.cb; + // Eigen::Vector3d& cg = this->hydroData.cg; + // Eigen::Vector3d p_BcmBcb = cb - cg; + + // link properties + gz::sim::Link baseLink(this->linkEntity); + + // displacements in the world frame (assumed small) + Eigen::Vector6d Xsi_WwpBwp_W( + this->linkState.X_WBwp.X() - this->X0_WBwp.X(), + this->linkState.X_WBwp.Y() - this->X0_WBwp.Y(), + this->linkState.X_WBwp.Z() - this->X0_WBwp.Z(), + this->linkState.X_WBwp.Roll() - this->X0_WBwp.Roll(), + this->linkState.X_WBwp.Pitch() - this->X0_WBwp.Pitch(), + this->linkState.X_WBwp.Yaw() - this->X0_WBwp.Yaw() + ); + + /// \note compare to Newman p293: here weight forces and moments are + /// calculated externally to the hydrostatics - so we must include + /// the equilibrium forces as well as the restoring ones. + + // hydrostatic buoyancy forces at equilibrium (independent of displacements) + gz::math::Vector3d fhb_Bcm_W = gz::math::Vector3d::Zero; + gz::math::Vector3d thb_Bcm_W = gz::math::Vector3d::Zero; + + if (this->forceFlags.buoyancyOn) + { + fhb_Bcm_W = gz::math::Vector3d(0.0, 0.0, rho * g * Vo); + + /// \todo In WEC-Sim the CoB and CoM for the buoyancy + /// torque contribution are held constant - as they are + /// in the linear hydrostatic restoring force coefficients. + thb_Bcm_W = this->linkState.p_BcmBcb_B.Cross(fhb_Bcm_W); + // thb_Bcm_W = this->linkState.p_BcmBcb_W.Cross(fhb_Bcm_W); + } + + // hydrostatic restoring forces (valid for small displacements) + gz::math::Vector3d fhr_Bwp_W = gz::math::Vector3d::Zero; + gz::math::Vector3d thr_Bwp_W = gz::math::Vector3d::Zero; + gz::math::Vector3d thr_Bcm_W = gz::math::Vector3d::Zero; + + if (this->forceFlags.hydrostaticRestoringOn) + { + // hydrostatic restoring forces + Eigen::Vector6d F_Bwp_W = -1 * K_hs * Xsi_WwpBwp_W; + fhr_Bwp_W = gz::math::Vector3d(F_Bwp_W(0), F_Bwp_W(1), F_Bwp_W(2)); + thr_Bwp_W = gz::math::Vector3d(F_Bwp_W(3), F_Bwp_W(4), F_Bwp_W(5)); + + /// \todo See comment above re CoM and CoM + thr_Bcm_W = this->linkState.p_BcmBwp_Bcm.Cross(fhr_Bwp_W); + // thr_Bcm_W = this->linkState.p_BcmBwp_W.Cross(fhr_Bwp_W); + } + + // enable for additional debug info + if (this->debugFlags.buoyancyOn) + { + gzdbg << "Hydrostatic Forces\n" + << "Xsi_WwpBwp_W " << Xsi_WwpBwp_W.transpose().head(3) << " m\n" + << " " << Xsi_WwpBwp_W.transpose().tail(3) << " rad\n" + << "fhb_Bcm_W: " << fhb_Bcm_W << " N\n" + << "fhr_Bwp_W: " << fhr_Bwp_W << " N\n" + << "fhs_Bcm_W: " << fhb_Bcm_W + fhr_Bwp_W << " N\n" + << "thb_Bcm_W: " << thb_Bcm_W << " N\n" + << "thr_Bwp_W: " << thr_Bwp_W << " N\n" + << "thr_Bcm_W: " << thr_Bcm_W << " N\n" + << "ths_Bo_W: " << thb_Bcm_W + thr_Bwp_W + thr_Bcm_W << " N\n" + // << "\n" << K_hs << "\n" + << "\n"; + } + + // apply forces at CoM + if (fhb_Bcm_W.IsFinite() && fhr_Bwp_W.IsFinite()) + { + baseLink.AddWorldForce(_ecm, fhb_Bcm_W + fhr_Bwp_W); + } + + // apply torques (forces applied at the link origin) + if (thb_Bcm_W.IsFinite() && thr_Bwp_W.IsFinite() && thr_Bcm_W.IsFinite()) + { + baseLink.AddWorldWrench( + _ecm, gz::math::Vector3d::Zero, thb_Bcm_W + thr_Bwp_W + thr_Bcm_W); + } + + // publish forces periodically + double updatePeriod = 1.0/this->publishers.updateRate; + double currentTime = std::chrono::duration(_info.simTime).count(); + if (this->publishers.buoyancyOn && + (currentTime - this->prevTime) < updatePeriod) + { + gz::msgs::Wrench msg; + msgs::Set(msg.mutable_force(), fhb_Bcm_W); + msgs::Set(msg.mutable_torque(), thb_Bcm_W); + this->publishers.buoyancyPub.Publish(msg); + } + + if (this->publishers.hydrostaticRestoringOn && + (currentTime - this->prevTime) < updatePeriod) + { + gz::msgs::Wrench msg; + msgs::Set(msg.mutable_force(), fhr_Bwp_W); + msgs::Set(msg.mutable_torque(), thr_Bwp_W + thr_Bcm_W); + this->publishers.restoringPub.Publish(msg); + } +} + +///////////////////////////////////////////////// +/// \brief Calculate the hydrodynamic radiation forces. +/// +/// +void LinearWaveBodyPrivate::UpdateRadiationForces(const UpdateInfo &_info, + EntityComponentManager &_ecm) +{ + this->UpdateRadiationDampingForces(_info, _ecm); + this->UpdateRadiationAddedMassForces(_info, _ecm); +} + +///////////////////////////////////////////////// +void LinearWaveBodyPrivate::UpdateRadiationDampingForces( + const UpdateInfo &_info, + EntityComponentManager &_ecm) +{ + // short circuit if forces disabled + if (!this->forceFlags.radiationDampingOn) + return; + + // parameters + Eigen::Matrix6d& B = this->hydroForceCoeffs.B; + + // link properties + gz::sim::Link baseLink(this->linkEntity); + + // velocity in world frame + auto v_WB_W = baseLink.WorldLinearVelocity(_ecm).value(); + auto w_WB_W = baseLink.WorldAngularVelocity(_ecm).value(); + + // velocity in link waterplane frame + auto v_WB_Bwp = this->linkState.X_WBwp.Inverse().Rot().RotateVector(v_WB_W); + auto w_WB_Bwp = this->linkState.X_WBwp.Inverse().Rot().RotateVector(w_WB_W); + + // spatial velocity + Eigen::Vector6d V_WB_W; + V_WB_W << v_WB_W.X(), v_WB_W.Y(), v_WB_W.Z(), + w_WB_W.X(), w_WB_W.Y(), w_WB_W.Z(); + + Eigen::Vector6d V_WB_Bwp; + V_WB_Bwp << v_WB_Bwp.X(), v_WB_Bwp.Y(), v_WB_Bwp.Z(), + w_WB_Bwp.X(), w_WB_Bwp.Y(), w_WB_Bwp.Z(); + + /// \note B is wrt to the fixed inertial frame at the initial + /// equilibrium position of the body waterplane. + + // radiation damping force in waterplane frame + Eigen::Vector6d F_Bwp_Bwp = -1 * B * V_WB_Bwp; + gz::math::Vector3d frd_Bwp_Bwp(F_Bwp_Bwp(0), F_Bwp_Bwp(1), F_Bwp_Bwp(2)); + gz::math::Vector3d trd_Bo_Bwp(F_Bwp_Bwp(3), F_Bwp_Bwp(4), F_Bwp_Bwp(5)); + + // radiation damping force in world frame + Eigen::Vector6d F_Bwp_W = -1 * B * V_WB_W; + gz::math::Vector3d frd_Bwp_W(F_Bwp_W(0), F_Bwp_W(1), F_Bwp_W(2)); + gz::math::Vector3d trd_Bwp_W(F_Bwp_W(3), F_Bwp_W(4), F_Bwp_W(5)); + gz::math::Vector3d trd_Bcm_W = this->linkState.p_BcmBwp_W.Cross(frd_Bwp_W); + + /// \todo zero out contribitions + trd_Bcm_W = gz::math::Vector3d::Zero; + + // enable for additional debug info + if (this->debugFlags.radiationDampingOn) + { + gzdbg << "Radiation Damping Forces\n" + << "v_WB_Bwp: " << v_WB_Bwp << " m/s\n" + << "v_WB_W: " << v_WB_W << " m/s\n" + << "w_WB_Bwp: " << w_WB_Bwp << " rad/s\n" + << "w_WB_W: " << w_WB_W << " rad/s\n" + << "frd_Bwp_W: " << frd_Bwp_W << " N\n" + << "trd_Bwp_W: " << trd_Bwp_W << " N m\n" + << "trd_Bcm_W: " << trd_Bcm_W << " N m\n" + << "\n"; + } + + // apply forces at CoM + if (frd_Bwp_W.IsFinite()) + { + baseLink.AddWorldForce(_ecm, frd_Bwp_W); + } + + // apply torques (forces applied at the link origin) + if (trd_Bwp_W.IsFinite() && trd_Bcm_W.IsFinite()) + { + baseLink.AddWorldWrench(_ecm, + gz::math::Vector3d::Zero, trd_Bwp_W + trd_Bcm_W); + } + + // publish forces periodically + double updatePeriod = 1.0/this->publishers.updateRate; + double currentTime = std::chrono::duration(_info.simTime).count(); + if (this->publishers.radiationDampingOn && + (currentTime - this->prevTime) < updatePeriod) + { + gz::msgs::Wrench msg; + msgs::Set(msg.mutable_force(), frd_Bwp_W); + msgs::Set(msg.mutable_torque(), trd_Bwp_W + trd_Bcm_W); + this->publishers.radiationDampingPubl.Publish(msg); + } +} + +///////////////////////////////////////////////// +void LinearWaveBodyPrivate::UpdateRadiationAddedMassForces( + const UpdateInfo &_info, + EntityComponentManager &_ecm) +{ + // short circuit if forces disabled + if (!this->forceFlags.radiationAddedMassOn) + return; + + // Estimate the added mass forces for publishing + + // publish forces periodically + double updatePeriod = 1.0/this->publishers.updateRate; + double currentTime = std::chrono::duration(_info.simTime).count(); + if (this->publishers.radiationAddedMassOn && + (currentTime - this->prevTime) < updatePeriod) + { + // parameters + Eigen::Matrix6d& A = this->hydroForceCoeffs.A; + + // link properties + gz::sim::Link baseLink(this->linkEntity); + + // acceleration in world frame + auto a_WB_W = baseLink.WorldLinearAcceleration(_ecm).value(); + auto alpha_WB_W = baseLink.WorldAngularAcceleration(_ecm).value(); + + // spatial acceleration + Eigen::Vector6d A_WB_W; + A_WB_W << a_WB_W.X(), a_WB_W.Y(), a_WB_W.Z(), + alpha_WB_W.X(), alpha_WB_W.Y(), alpha_WB_W.Z(); + + // added mass force in world frame + Eigen::Vector6d F_Bwp_W = -1 * A * A_WB_W; + gz::math::Vector3d fam_Bwp_W(F_Bwp_W(0), F_Bwp_W(1), F_Bwp_W(2)); + gz::math::Vector3d tam_Bwp_W(F_Bwp_W(3), F_Bwp_W(4), F_Bwp_W(5)); + // gz::math::Vector3d trd_Bcm_W = + // this->linkState.p_BcmBwp_W.Cross(frd_Bwp_W); + + gz::msgs::Wrench msg; + msgs::Set(msg.mutable_force(), fam_Bwp_W); + msgs::Set(msg.mutable_torque(), tam_Bwp_W); + this->publishers.radiationAddedMassPubl.Publish(msg); + } + + // force / moment tests +#if 0 + // 0. pose of CoM in world frame. + // auto X_WBcm = X_WB * X_BBcm; + // auto f_Bcm_Bcm = gz::math::Vector3d::Zero; + // auto f_Bcm_W = gz::math::Vector3d::Zero; + // auto t_Bcm_Bcm = gz::math::Vector3d::Zero; + // auto t_Bcm_W = gz::math::Vector3d::Zero; + + // 1. constant force along x-axis applied at CoM in world frame. + // f_Bcm_W = gz::math::Vector3d(10000, 0 , 0); + + // 2. constant force along x-axis applied at CoM in CoM frame. + // f_Bcm_Bcm = gz::math::Vector3d(10000, 0 , 0); + // f_Bcm_W = X_WBcm.Rot().RotateVector(f_Bcm_Bcm); + + // 3. constant torque about z-axis in world frame. + // t_Bcm_W = gz::math::Vector3d(0, 0, 50000); + + // 4. constant torque about z-axis in CoM frame. + // t_Bcm_Bcm = gz::math::Vector3d(0, 0, 50000); + // t_Bcm_W = X_WBcm.Rot().RotateVector(t_Bcm_Bcm); + + // 5. constant force along x-axis applied at CoM in world frame. + // constant torque about z-axis in world frame + // f_Bcm_W = gz::math::Vector3d(10000, 0 , 0); + // t_Bcm_W = gz::math::Vector3d(0, 0, 50000); + + // 6. constant force along x-axis applied at CoM in world frame. + // constant torque about z-axis in world frame + // f_Bcm_Bcm = gz::math::Vector3d(10000, 0 , 0); + // f_Bcm_W = X_WBcm.Rot().RotateVector(f_Bcm_Bcm); + // t_Bcm_Bcm = gz::math::Vector3d(0, 0, 50000); + // t_Bcm_W = X_WBcm.Rot().RotateVector(t_Bcm_Bcm); + + // apply force and torque + // baseLink.AddWorldForce(_ecm, f_Bcm_W); + // baseLink.AddWorldWrench(_ecm, gz::math::Vector3d::Zero, t_Bcm_W); +#endif +} + +///////////////////////////////////////////////// +void LinearWaveBodyPrivate::RadiationForcesImpulseResponseFunction( + const UpdateInfo &/*_info*/, + EntityComponentManager &/*_ecm*/) +{ + // short circuit if forces disabled + if (!this->forceFlags.radiationDampingOn && + !this->forceFlags.radiationAddedMassOn) + return; + + /// \todo implement convolution integral +} + +///////////////////////////////////////////////// +/// \brief Calculate the hydrodynamic excitation forces. +/// +/// +void LinearWaveBodyPrivate::UpdateExcitationForces(const UpdateInfo &_info, + EntityComponentManager &_ecm) +{ + // short circuit if forces disabled + if (!this->forceFlags.excitationOn && + !this->forceFlags.excitationFroudeKrylovOn && + !this->forceFlags.excitationScatteringOn) + return; + + // parameters + double time = std::chrono::duration(_info.simTime).count(); + double height = this->waves.height; + double phase = this->waves.phase; + double omega = this->simParams.w; + Eigen::Vector6d& ex_re = this->hydroForceCoeffs.ex_re; + Eigen::Vector6d& ex_im = this->hydroForceCoeffs.ex_im; + Eigen::Vector6d& fk_re = this->hydroForceCoeffs.fk_re; + Eigen::Vector6d& fk_im = this->hydroForceCoeffs.fk_im; + Eigen::Vector6d& sc_re = this->hydroForceCoeffs.sc_re; + Eigen::Vector6d& sc_im = this->hydroForceCoeffs.sc_im; + + // link properties + gz::sim::Link baseLink(this->linkEntity); + + // ramp function + // (http://wec-sim.github.io/WEC-Sim/master/theory/theory.html#ramp-function) + auto ramp = [](double t) -> double + { + // relaxation time + double tr = 10.0; + double tau = t/tr; + + if (tau < 1) + return 0.5*(1.0 + std::cos(GZ_PI*(1.0 + tau))); + else + return 1.0; + }; + + /// \todo check sign (and convention for wave direction) + // force calculations + double wt = omega * time; + double c = std::cos(wt + phase); + double s = std::sin(wt + phase); + + gz::math::Vector3d fex_Bwp_W = gz::math::Vector3d::Zero; + gz::math::Vector3d tex_Bwp_W = gz::math::Vector3d::Zero; + gz::math::Vector3d tex_Bcm_W = gz::math::Vector3d::Zero; + + gz::math::Vector3d ffk_Bwp_W = gz::math::Vector3d::Zero; + gz::math::Vector3d tfk_Bwp_W = gz::math::Vector3d::Zero; + gz::math::Vector3d tfk_Bcm_W = gz::math::Vector3d::Zero; + + gz::math::Vector3d fsc_Bwp_W = gz::math::Vector3d::Zero; + gz::math::Vector3d tsc_Bwp_W = gz::math::Vector3d::Zero; + gz::math::Vector3d tsc_Bcm_W = gz::math::Vector3d::Zero; + + // Net Excitation - disable if either or both components enabled + if (!this->forceFlags.excitationFroudeKrylovOn && + !this->forceFlags.excitationScatteringOn) + { + Eigen::Vector6d F_Bwp_W = + 0.5 * height * ramp(time) * (ex_re * c - ex_im * s); + fex_Bwp_W = gz::math::Vector3d(F_Bwp_W(0), F_Bwp_W(1), F_Bwp_W(2)); + tex_Bwp_W = gz::math::Vector3d(F_Bwp_W(3), F_Bwp_W(4), F_Bwp_W(5)); + tex_Bcm_W = this->linkState.p_BcmBwp_W.Cross(fex_Bwp_W); + } + + // Froude-Kylov + if (this->forceFlags.excitationFroudeKrylovOn) + { + Eigen::Vector6d F_Bwp_W = + 0.5 * height * ramp(time) * (fk_re * c - fk_im * s); + ffk_Bwp_W = gz::math::Vector3d(F_Bwp_W(0), F_Bwp_W(1), F_Bwp_W(2)); + tfk_Bwp_W = gz::math::Vector3d(F_Bwp_W(3), F_Bwp_W(4), F_Bwp_W(5)); + tfk_Bcm_W = this->linkState.p_BcmBwp_W.Cross(ffk_Bwp_W); + } + + // Scattering + if (this->forceFlags.excitationScatteringOn) + { + Eigen::Vector6d F_Bwp_W = + 0.5 * height * ramp(time) * (sc_re * c - sc_im * s); + fsc_Bwp_W = gz::math::Vector3d(F_Bwp_W(0), F_Bwp_W(1), F_Bwp_W(2)); + tsc_Bwp_W = gz::math::Vector3d(F_Bwp_W(3), F_Bwp_W(4), F_Bwp_W(5)); + tsc_Bcm_W = this->linkState.p_BcmBwp_W.Cross(fsc_Bwp_W); + } + + // enable for additional debug info + if (this->debugFlags.excitationOn) + { + gzdbg << "Excitation Forces\n" + << "fex_Bwp_W: " << fex_Bwp_W << " N\n" + << "tex_Bwp_W: " << tex_Bwp_W << " N m\n" + << "tex_Bcm_W: " << tex_Bcm_W << " N m\n" + << "ffk_Bwp_W: " << ffk_Bwp_W << " N\n" + << "tfk_Bwp_W: " << tfk_Bwp_W << " N m\n" + << "tfk_Bcm_W: " << tfk_Bcm_W << " N m\n" + << "fsc_Bwp_W: " << fsc_Bwp_W << " N\n" + << "tsc_Bwp_W: " << tsc_Bwp_W << " N m\n" + << "tsc_Bcm_W: " << tsc_Bcm_W << " N m\n" + << "\n"; + } + + // apply forces at CoM + if (fex_Bwp_W.IsFinite() && ffk_Bwp_W.IsFinite() && fsc_Bwp_W.IsFinite()) + { + baseLink.AddWorldForce(_ecm, fex_Bwp_W + ffk_Bwp_W + fsc_Bwp_W); + } + + // apply torques (forces applied at the link origin) + if (tex_Bwp_W.IsFinite() && tex_Bcm_W.IsFinite() && + tfk_Bwp_W.IsFinite() && tfk_Bcm_W.IsFinite() && + tsc_Bwp_W.IsFinite() && tsc_Bcm_W.IsFinite()) + { + baseLink.AddWorldWrench(_ecm, gz::math::Vector3d::Zero, + tex_Bwp_W + tex_Bcm_W + tfk_Bwp_W + tfk_Bcm_W + tsc_Bwp_W + tsc_Bcm_W); + } + + // publish forces periodically + double updatePeriod = 1.0/this->publishers.updateRate; + double currentTime = std::chrono::duration(_info.simTime).count(); + if (this->publishers.excitationOn && + (currentTime - this->prevTime) < updatePeriod) + { + gz::msgs::Wrench msg; + msgs::Set(msg.mutable_force(), fex_Bwp_W); + msgs::Set(msg.mutable_torque(), tex_Bwp_W + tex_Bcm_W); + this->publishers.excitationPub.Publish(msg); + } + + if (this->publishers.excitationFroudeKrylovOn && + (currentTime - this->prevTime) < updatePeriod) + { + gz::msgs::Wrench msg; + msgs::Set(msg.mutable_force(), ffk_Bwp_W); + msgs::Set(msg.mutable_torque(), tfk_Bwp_W + tfk_Bcm_W); + this->publishers.excitationFroudeKrylovPubl.Publish(msg); + } + + if (this->publishers.excitationScatteringOn && + (currentTime - this->prevTime) < updatePeriod) + { + gz::msgs::Wrench msg; + msgs::Set(msg.mutable_force(), fsc_Bwp_W); + msgs::Set(msg.mutable_torque(), tsc_Bwp_W + tsc_Bcm_W); + this->publishers.excitationScatteringPub.Publish(msg); + } +} + +////////////////////////////////////////////////// +GZ_ADD_PLUGIN(LinearWaveBody, + gz::sim::System, + LinearWaveBody::ISystemConfigure, + LinearWaveBody::ISystemPreUpdate) + +GZ_ADD_PLUGIN_ALIAS(LinearWaveBody, + "gz::sim::systems::LinearWaveBody") diff --git a/gz-waves/src/systems/linear_wave_body/LinearWaveBody.hh b/gz-waves/src/systems/linear_wave_body/LinearWaveBody.hh new file mode 100644 index 00000000..eff275ce --- /dev/null +++ b/gz-waves/src/systems/linear_wave_body/LinearWaveBody.hh @@ -0,0 +1,63 @@ +// Copyright (C) 2022 Rhys Mainwaring +// +// This program is free software: you can redistribute it and/or modify +// it under the terms of the GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef GZ_SIM_SYSTEMS_LINEARWAVEBODY_HH_ +#define GZ_SIM_SYSTEMS_LINEARWAVEBODY_HH_ + +#include + +#include + +namespace gz +{ +namespace sim +{ +// Inline bracket to help doxygen filtering. +inline namespace GZ_SIM_VERSION_NAMESPACE { +namespace systems +{ + // Forward declaration + class LinearWaveBodyPrivate; + + class LinearWaveBody + : public System, + public ISystemConfigure, + public ISystemPreUpdate + { + /// \brief Constructor + public: LinearWaveBody(); + + /// \brief Destructor + public: ~LinearWaveBody() override; + + // Documentation inherited + public: void Configure(const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm, + EventManager &_eventMgr) final; + + /// Documentation inherited + public: void PreUpdate(const UpdateInfo &_info, + EntityComponentManager &_ecm) override; + + /// \brief Private data pointer + private: std::unique_ptr dataPtr; + }; + } +} +} +} + +#endif diff --git a/gz-waves/src/systems/linear_wave_body/mlinterp.hpp b/gz-waves/src/systems/linear_wave_body/mlinterp.hpp new file mode 100644 index 00000000..8fddd7a4 --- /dev/null +++ b/gz-waves/src/systems/linear_wave_body/mlinterp.hpp @@ -0,0 +1,169 @@ +/** + * MIT License + * + * Copyright (c) 2017 Parsiad Azimzadeh + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +#ifndef MLINTERP_HPP +#define MLINTERP_HPP + +#include +#include +#include + +namespace mlinterp { + +namespace { + +template struct helper { + template void run(const Index *, Index, Index *, T *) {} +}; + +template +struct helper : helper { + const T *xd; + const T *xi; + + helper(T1 xd, T2 xi, Args... args) + : helper(args...), xd(xd), xi(xi) {} + + template + void run(const Index *nd, Index n, Index *indices, T *weights) { + // Must have at least one point per axis + assert(*nd > 0); + + const T x = xi[n]; + + Index mid; + T weight; + + if (*nd == 1 || x <= xd[0]) { + // Data point is less than left boundary + mid = 0; + weight = 1.; + } else if (x >= xd[*nd - 1]) { + // Data point is greater than right boundary + mid = *nd - 2; + weight = 0.; + } else { + // Binary search to find tick + Index lo = 0, hi = *nd - 2; + mid = 0; + weight = 0.; + while (lo <= hi) { + mid = lo + (hi - lo) / 2; + if (x < xd[mid]) { + hi = mid - 1; + } else if (x >= xd[mid + 1]) { + lo = mid + 1; + } else { + weight = (xd[mid + 1] - x) / (xd[mid + 1] - xd[mid]); + break; + } + } + } + + *indices = mid; + *weights = weight; + + helper &base = (*this); + base.run(nd + 1, n, indices + 1, weights + 1); + } +}; + +} // namespace + +struct natord { + template + static Index mux(const Index *nd, const Index *indices) { + Index index = 0, product = 1, i = Dimension - 1; + while (true) { + index += indices[i] * product; + if (i == 0) { + break; + } + product *= nd[i--]; + } + return index; + } +}; + +struct rnatord { + template + static Index mux(const Index *nd, const Index *indices) { + Index index = 0, product = 1, i = 0; + while (true) { + index += indices[i] * product; + if (i == Dimension - 1) { + break; + } + product *= nd[i++]; + } + return index; + } +}; + +template +static void interp(const Index *nd, Index ni, const T *yd, T *yi, + Args... args) { + // Cannot have a negative number of points + assert(ni >= 0); + + // Infer dimension from arguments + static_assert(sizeof...(Args) % 2 == 0, "needs 4+2*Dimension arguments"); + constexpr Index Dimension = sizeof...(Args) / 2; + + // Compute 2^Dimension + constexpr Index Power = 1 << Dimension; + + // Unpack arguments + helper h(args...); + + // Perform interpolation for each point + Index indices[Dimension]; + T weights[Dimension]; + Index buffer[Dimension]; + T factor; + for (Index n = 0; n < ni; ++n) { + yi[n] = 0.; + h.run(nd, n, indices, weights); + for (Index bitstr = 0; bitstr < Power; ++bitstr) { + factor = 1.; + for (Index i = 0; i < Dimension; ++i) { + if (bitstr & (1 << i)) { + buffer[i] = indices[i]; + factor *= weights[i]; + } else { + buffer[i] = indices[i] + 1; + factor *= 1 - weights[i]; + } + } + if (factor > std::numeric_limits::epsilon()) { + const Index k = Order::template mux(nd, buffer); + yi[n] += factor * yd[k]; + } + } + } +} + +} // namespace mlinterp + +#endif diff --git a/gz_waves_bridge/LICENSE b/gz_waves_bridge/LICENSE new file mode 100644 index 00000000..d911813d --- /dev/null +++ b/gz_waves_bridge/LICENSE @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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But first, please read +. diff --git a/gz_waves_bridge/README.md b/gz_waves_bridge/README.md new file mode 100644 index 00000000..a7194c33 --- /dev/null +++ b/gz_waves_bridge/README.md @@ -0,0 +1,37 @@ +# Gazebo Waves Bridge + +A ROS2 bridge for `gz-waves`. + +## Install + +```zsh +colcon build --symlink-install --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_TESTING=ON -DCMAKE_CXX_STANDARD=17 -DCMAKE_MACOSX_RPATH=FALSE -DCMAKE_INSTALL_NAME_DIR=$(pwd)/install/lib -DHIGHFIVE_USE_EIGEN=ON --packages-select gz_waves_bridge gz-waves1 +``` + +## Run + +```zsh +ros2 launch gz_waves_bridge ellipsoid_buoy.launch.py +``` + +## Nodes + +### body_response_publisher + +The body response publisher subscribes to an odometry message and +republishes the position and orientation using marine dof labels and +conventions. Mainly for plotting and visualisation. + +#### Subscribed Topics + +- `/odom` (`nav_msgs/Odometry`) + + +#### Published Topics + +- `/surge` (`std_msgs/Float64`) +- `/sway` (`std_msgs/Float64`) +- `/heave` (`std_msgs/Float64`) +- `/roll` (`std_msgs/Float64`) +- `/pitch` (`std_msgs/Float64`) +- `/yaw` (`std_msgs/Float64`) diff --git a/gz_waves_bridge/config/ellipsoid_buoy.yaml b/gz_waves_bridge/config/ellipsoid_buoy.yaml new file mode 100644 index 00000000..e69de29b diff --git a/gz_waves_bridge/gz_waves_bridge/__init__.py b/gz_waves_bridge/gz_waves_bridge/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/gz_waves_bridge/gz_waves_bridge/body_response_publisher.py b/gz_waves_bridge/gz_waves_bridge/body_response_publisher.py new file mode 100644 index 00000000..d92938d8 --- /dev/null +++ b/gz_waves_bridge/gz_waves_bridge/body_response_publisher.py @@ -0,0 +1,59 @@ +""" +Publish odometry position and orientation to topics labelled by maritime dofs. +""" + +import rclpy +from rclpy.node import Node + +from std_msgs.msg import Float64 +from nav_msgs.msg import Odometry + +import transforms3d + + +class BodyResponsePublisher(Node): + def __init__(self): + super().__init__("body_response_publisher") + + self.get_logger().info("Starting node 'body_response_publisher'") + + # subscribe to odom and republish as maritime dofs: + # surge, sway, heave, roll, pitch and yaw + + # Subscribe to topic 'odom' + self.subscription = self.create_subscription( + Odometry, f"/odom", self.handle_odom, 1 + ) + self.subscription + + # publishers for maritime dofs + self.dof_topics = ["/surge", "/sway", "/heave", "/roll", "/pitch", "/yaw"] + self.pubs = [ + self.create_publisher(Float64, topic, 10) for topic in self.dof_topics + ] + + def handle_odom(self, msg): + + # self.get_logger().info("received odom") + + pos = msg.pose.pose.position + rot = msg.pose.pose.orientation + q = [rot.w, rot.x, rot.y, rot.z] + ai, aj, ak = transforms3d.euler.quat2euler(q) + x = [pos.x, pos.y, pos.z, ai, aj, ak] + + for i, topic in enumerate(self.dof_topics): + dof_msg = Float64() + dof_msg.data = x[i] + self.pubs[i].publish(dof_msg) + + +def main(): + rclpy.init() + node = BodyResponsePublisher() + try: + rclpy.spin(node) + except KeyboardInterrupt: + pass + + rclpy.shutdown() diff --git a/gz_waves_bridge/launch/ellipsoid_buoy.launch.py b/gz_waves_bridge/launch/ellipsoid_buoy.launch.py new file mode 100644 index 00000000..6d5d69e3 --- /dev/null +++ b/gz_waves_bridge/launch/ellipsoid_buoy.launch.py @@ -0,0 +1,148 @@ +"""Launch Gazebo world with an ellipsoid buoy.""" + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription + +# from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription +# from launch.conditions import IfCondition +# from launch.launch_description_sources import PythonLaunchDescriptionSource +# from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch_ros.actions import Node + + +def generate_launch_description(): + + pkg_ros_gz_sim = get_package_share_directory("ros_gz_sim") + # pkg_gz_waves_bridge = get_package_share_directory("gz_waves_bridge") + # model_dir = "ellipsoid_buoy" + model_name = "ellipsoid_buoy" + + # sdf_file = os.path.join(pkg_gz_waves_bridge, "models", model_dir, "model.sdf") + # with open(sdf_file, "r") as infp: + # robot_desc = infp.read() + + # assumes we have generated a urdf file + # urdf_file = os.path.join(pkg_gz_waves_bridge, "models", model_dir, "model.sdf.urdf") + # with open(urdf_file, "r") as infp: + # robot_desc = infp.read() + + # gazebo_world_file_launch_arg = DeclareLaunchArgument( + # "world_file", + # default_value=["waves.sdf"], + # description="Gazebo world filename.sdf", + # ) + + # gazebo_world_name_launch_arg = DeclareLaunchArgument( + # "world_name", default_value=["world_demo"], description="Gazebo " + # ) + + # rviz_launch_arg = DeclareLaunchArgument( + # "rviz", default_value="false", description="Open RViz." + # ) + + # gazebo = IncludeLaunchDescription( + # PythonLaunchDescriptionSource( + # os.path.join(pkg_ros_gz_sim, "launch", "gz_sim.launch.py"), + # ), + # launch_arguments={"gz_args": "-v4 -s waves.sdf"}.items(), + # ) + + # Bridge to forward tf and joint states to ros2 + # LaunchConfiguration("world_name"), + joint_state_gz_topic = ( + "/world/" + "world_demo" + "/model/" + model_name + "/joint_state" + ) + odom_gz_topic = "/model/" + model_name + "/odometry" + link_pose_gz_topic = "/model/" + model_name + "/pose" + link_pose_static_gz_topic = "/model/" + model_name + "/pose_static" + bridge = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + arguments=[ + "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock", + joint_state_gz_topic + "@sensor_msgs/msg/JointState[gz.msgs.Model", + odom_gz_topic + "@nav_msgs/msg/Odometry[gz.msgs.Odometry", + link_pose_gz_topic + "@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V", + link_pose_static_gz_topic + "_static@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V", + "/force/gravity@geometry_msgs/msg/Wrench[gz.msgs.Wrench", + "/force/buoyancy@geometry_msgs/msg/Wrench[gz.msgs.Wrench", + "/force/restoring@geometry_msgs/msg/Wrench[gz.msgs.Wrench", + "/force/radiation_damping@geometry_msgs/msg/Wrench[gz.msgs.Wrench", + "/force/radiation_added_mass@geometry_msgs/msg/Wrench[gz.msgs.Wrench", + "/force/excitation@geometry_msgs/msg/Wrench[gz.msgs.Wrench", + "/force/excitation_froude_krylov@geometry_msgs/msg/Wrench[gz.msgs.Wrench", + "/force/excitation_scattering@geometry_msgs/msg/Wrench[gz.msgs.Wrench", + ], + remappings=[ + (joint_state_gz_topic, "joint_states"), + (link_pose_gz_topic, "/tf"), + (link_pose_static_gz_topic, "/tf_static"), + ], + parameters=[ + {"qos_overrides./tf_static.publisher.durability": "transient_local"} + ], + output="screen", + ) + + # body_response_publisher republishes the buoy odometry to maritime dof + # topics: surge, sway, heave, roll, pitch, yaw + # mainly for plotting - where plotting tools do not have built-in + # converters from quaternions to euler angles. + # + body_response_publisher = Node( + package="gz_waves_bridge", + executable="body_response_publisher", + arguments=[], + remappings=[ + ("/odom", odom_gz_topic), + ("/surge", "/model/" + model_name + "/surge"), + ("/sway", "/model/" + model_name + "/sway"), + ("/heave", "/model/" + model_name + "/heave"), + ("/roll", "/model/" + model_name + "/roll"), + ("/pitch", "/model/" + model_name + "/pitch"), + ("/yaw", "/model/" + model_name + "/yaw"), + ], + parameters=[], + output="screen", + ) + + # Get the parser plugin convert sdf to urdf using robot_description topic + # robot_state_publisher = Node( + # package="robot_state_publisher", + # executable="robot_state_publisher", + # name="robot_state_publisher", + # output="both", + # parameters=[ + # {"use_sim_time": True}, + # {"robot_description": robot_desc}, + # ], + # ) + + # Launch rviz + # rviz = Node( + # package="rviz2", + # executable="rviz2", + # arguments=[ + # "-d", + # os.path.join(pkg_buoy_gazebo, "rviz", "ellipsoid_buoy.rviz"), + # ], + # condition=IfCondition(LaunchConfiguration("rviz")), + # parameters=[ + # {"use_sim_time": True}, + # ], + # ) + + return LaunchDescription( + [ + # gazebo_world_file_launch_arg, + # gazebo_world_name_launch_arg, + # rviz_launch_arg, + # gazebo, + bridge, + body_response_publisher, + # robot_state_publisher, + # rviz, + ] + ) diff --git a/gz_waves_bridge/launch/mbari_buoy.launch.py b/gz_waves_bridge/launch/mbari_buoy.launch.py new file mode 100644 index 00000000..311280a6 --- /dev/null +++ b/gz_waves_bridge/launch/mbari_buoy.launch.py @@ -0,0 +1,75 @@ +"""Launch Gazebo world with an ellipsoid buoy.""" + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node + + +def generate_launch_description(): + + model_name = "mbari_buoy" + + # Bridge to forward tf and joint states to ros2 + # LaunchConfiguration("world_name"), + bridge = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + arguments=[ + "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock", + "/world/mbari_buoy/model/mbari_buoy/joint_state@sensor_msgs/msg/JointState[gz.msgs.Model", + "/model/mbari_buoy/odometry@nav_msgs/msg/Odometry[gz.msgs.Odometry", + "/model/mbari_buoy/pose@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V", + "/model/mbari_buoy/pose_static@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V", + "/force/gravity@geometry_msgs/msg/Wrench[gz.msgs.Wrench", + "/force/buoyancy@geometry_msgs/msg/Wrench[gz.msgs.Wrench", + "/force/restoring@geometry_msgs/msg/Wrench[gz.msgs.Wrench", + "/force/radiation_damping@geometry_msgs/msg/Wrench[gz.msgs.Wrench", + "/force/radiation_added_mass@geometry_msgs/msg/Wrench[gz.msgs.Wrench", + "/force/excitation@geometry_msgs/msg/Wrench[gz.msgs.Wrench", + "/force/excitation_froude_krylov@geometry_msgs/msg/Wrench[gz.msgs.Wrench", + "/force/excitation_scattering@geometry_msgs/msg/Wrench[gz.msgs.Wrench", + ], + remappings=[ + ( + "/world/mbari_buoy/model/mbari_buoy/joint_state", + "joint_states", + ), + ("/model/mbari_buoy/pose", "/tf"), + ("/model/mbari_buoy/pose_static", "/tf_static"), + ], + parameters=[ + {"qos_overrides./tf_static.publisher.durability": "transient_local"} + ], + output="screen", + ) + + # body_response_publisher republishes the buoy odometry to maritime dof + # topics: surge, sway, heave, roll, pitch, yaw + # mainly for plotting - where plotting tools do not have built-in + # converters from quaternions to euler angles. + # + body_response_publisher = Node( + package="gz_waves_bridge", + executable="body_response_publisher", + arguments=[], + remappings=[ + ("/odom", "/model/mbari_buoy/odometry"), + ("/surge", "/model/" + model_name + "/surge"), + ("/sway", "/model/" + model_name + "/sway"), + ("/heave", "/model/" + model_name + "/heave"), + ("/roll", "/model/" + model_name + "/roll"), + ("/pitch", "/model/" + model_name + "/pitch"), + ("/yaw", "/model/" + model_name + "/yaw"), + ], + parameters=[], + output="screen", + ) + + return LaunchDescription( + [ + bridge, + body_response_publisher, + ] + ) diff --git a/gz_waves_bridge/launch/spheroid_test1a.launch.py b/gz_waves_bridge/launch/spheroid_test1a.launch.py new file mode 100644 index 00000000..b492c0c7 --- /dev/null +++ b/gz_waves_bridge/launch/spheroid_test1a.launch.py @@ -0,0 +1,75 @@ +"""Launch Gazebo world with an ellipsoid buoy.""" + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node + + +def generate_launch_description(): + + model_name = "spheroid_test1a" + + # Bridge to forward tf and joint states to ros2 + # LaunchConfiguration("world_name"), + bridge = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + arguments=[ + "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock", + "/world/spheroid_test1a/model/spheroid_test1a/joint_state@sensor_msgs/msg/JointState[gz.msgs.Model", + "/model/spheroid_test1a/odometry@nav_msgs/msg/Odometry[gz.msgs.Odometry", + "/model/spheroid_test1a/pose@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V", + "/model/spheroid_test1a/pose_static@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V", + "/force/gravity@geometry_msgs/msg/Wrench[gz.msgs.Wrench", + "/force/buoyancy@geometry_msgs/msg/Wrench[gz.msgs.Wrench", + "/force/restoring@geometry_msgs/msg/Wrench[gz.msgs.Wrench", + "/force/radiation_damping@geometry_msgs/msg/Wrench[gz.msgs.Wrench", + "/force/radiation_added_mass@geometry_msgs/msg/Wrench[gz.msgs.Wrench", + "/force/excitation@geometry_msgs/msg/Wrench[gz.msgs.Wrench", + "/force/excitation_froude_krylov@geometry_msgs/msg/Wrench[gz.msgs.Wrench", + "/force/excitation_scattering@geometry_msgs/msg/Wrench[gz.msgs.Wrench", + ], + remappings=[ + ( + "/world/spheroid_test1a/model/spheroid_test1a/joint_state", + "joint_states", + ), + ("/model/spheroid_test1a/pose", "/tf"), + ("/model/spheroid_test1a/pose_static", "/tf_static"), + ], + parameters=[ + {"qos_overrides./tf_static.publisher.durability": "transient_local"} + ], + output="screen", + ) + + # body_response_publisher republishes the buoy odometry to maritime dof + # topics: surge, sway, heave, roll, pitch, yaw + # mainly for plotting - where plotting tools do not have built-in + # converters from quaternions to euler angles. + # + body_response_publisher = Node( + package="gz_waves_bridge", + executable="body_response_publisher", + arguments=[], + remappings=[ + ("/odom", "/model/spheroid_test1a/odometry"), + ("/surge", "/model/" + model_name + "/surge"), + ("/sway", "/model/" + model_name + "/sway"), + ("/heave", "/model/" + model_name + "/heave"), + ("/roll", "/model/" + model_name + "/roll"), + ("/pitch", "/model/" + model_name + "/pitch"), + ("/yaw", "/model/" + model_name + "/yaw"), + ], + parameters=[], + output="screen", + ) + + return LaunchDescription( + [ + bridge, + body_response_publisher, + ] + ) diff --git a/gz_waves_bridge/package.xml b/gz_waves_bridge/package.xml new file mode 100644 index 00000000..95579959 --- /dev/null +++ b/gz_waves_bridge/package.xml @@ -0,0 +1,36 @@ + + + + gz_waves_bridge + 0.0.0 + ROS2 bridge for gz-waves + Rhys Mainwaring + GPL-3.0 + + ament_cmake + + geometry_msgs + gz-sim7 + image_transport_plugins + rclpy + robot_state_publisher + ros_gz_bridge + ros_gz_gazebo + ros_gz_image + rqt_image_view + rqt_plot + rqt_topic + rviz2 + tf_transformations + tf2_ros + xacro + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/gz_waves_bridge/resource/gz_waves_bridge b/gz_waves_bridge/resource/gz_waves_bridge new file mode 100644 index 00000000..e69de29b diff --git a/gz_waves_bridge/rviz/ellipsoid_buoy.rviz b/gz_waves_bridge/rviz/ellipsoid_buoy.rviz new file mode 100644 index 00000000..b0163f62 --- /dev/null +++ b/gz_waves_bridge/rviz/ellipsoid_buoy.rviz @@ -0,0 +1,188 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /RobotModel1/Mass Properties1 + - /TF1 + - /TF1/Frames1 + Splitter Ratio: 0.5 + Tree Height: 466 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 0.75 + Class: rviz_default_plugins/RobotModel + Collision Enabled: true + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: true + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_link: + Value: true + odom: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + odom: + base_link: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: odom + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 30.45944595336914 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -2.934739112854004 + Y: 2.9685637950897217 + Z: -1.1834487915039062 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5703985095024109 + Target Frame: + Value: Orbit (rviz) + Yaw: 1.4053977727890015 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 757 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1162 + X: 9 + Y: 25 diff --git a/gz_waves_bridge/setup.cfg b/gz_waves_bridge/setup.cfg new file mode 100644 index 00000000..a0d7eeee --- /dev/null +++ b/gz_waves_bridge/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/gz_waves_bridge +[install] +install_scripts=$base/lib/gz_waves_bridge diff --git a/gz_waves_bridge/setup.py b/gz_waves_bridge/setup.py new file mode 100644 index 00000000..6c5b2849 --- /dev/null +++ b/gz_waves_bridge/setup.py @@ -0,0 +1,31 @@ +import os +from glob import glob +from setuptools import setup + +package_name = "gz_waves_bridge" + +setup( + name=package_name, + version="0.0.0", + packages=[package_name], + data_files=[ + ("share/ament_index/resource_index/packages", ["resource/" + package_name]), + ("share/" + package_name, ["package.xml"]), + (os.path.join("share", package_name), glob("launch/*.launch.py")), + (os.path.join("share", package_name, "config"), glob("config/*.yaml")), + (os.path.join("share", package_name, "models"), glob("models/*.xacro")), + (os.path.join("share", package_name, "rviz"), glob("rviz/*.rviz")), + ], + install_requires=["setuptools"], + zip_safe=True, + maintainer="Rhys Mainwaring", + maintainer_email="rhys.mainwaring@me.com", + description="ROS2 bridge for gz-waves", + license="GPL-3.0", + tests_require=["pytest"], + entry_points={ + "console_scripts": [ + "body_response_publisher = gz_waves_bridge.body_response_publisher:main", + ], + }, +)