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Wave Body MBARI: add MBARI buoy example for testing #76

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Oct 11, 2022
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Wave Body MBARI: add MBARI buoy example for testing #76

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1,010 changes: 1,010 additions & 0 deletions gz-waves-models/models/mbari_buoy/config/hydrodata/BuoyA5.1
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1,001 changes: 1,001 additions & 0 deletions gz-waves-models/models/mbari_buoy/config/hydrodata/BuoyA5_JR.3
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2,080 changes: 2,080 additions & 0 deletions gz-waves-models/models/mbari_buoy/config/hydrodata/BuoyA5_pan.dat
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33 changes: 33 additions & 0 deletions gz-waves-models/models/mbari_buoy/model.config
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<?xml version="1.0"?>
<model>
<name>MBARI Buoy</name>
<version>1.0</version>
<sdf version="1.8">model.sdf</sdf>

<author>
<name>Michael Anderson</name>
<email>[email protected]</email>
</author>
<author>
<name>Louise Poubel</name>
<email>[email protected]</email>
</author>
<author>
<name>Dharini Dutia</name>
<email>[email protected]</email>
</author>

<author>
<name>Rhys Mainwaring</name>
<email>[email protected]</email>
</author>

<description>
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.
</description>

</model>
71 changes: 71 additions & 0 deletions gz-waves-models/models/mbari_buoy/model.sdf
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<?xml version="1.0" ?>
<sdf version="1.8">
<model name="mbari_buoy">
<!--
In the orginal model the link origin is located
at the bridle articulation point.

CoM location: (0 0 2.03) m
Waterline location: (0 0 2.27) m
CoB: (0 0 2.05) m

Vo: 2.39 m^3
S: 5.47 m^2
S11 = S22: 1.37 m^4

Source: Buoy_Assembly_09-27-2022

We set the origin at the waterplane, and offset from there.

Questions:
The inertial data in the data sheet looks like it may be for a
coordinate system with y-up as the smallest diagonal element is Iyy
and we'd expect the inertia to be approx. symmetric about the z axis.
-->
<link name="base_link">
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 -0.24 0 0 0</pose>
<!-- <mass>1400</mass> -->
<mass>2450</mass>
<!-- <inertia>
<ixx>1429</ixx>
<ixy>6.74</ixy>
<ixz>4.70</ixz>
<iyy>670.3</iyy>
<iyz>30.5</iyz>
<izz>1476</izz>
</inertia> -->
<inertia>
<ixx>1429</ixx>
<ixy>4.70</ixy>
<ixz>6.74</ixz>
<iyy>1476</iyy>
<iyz>30.5</iyz>
<izz>670.3</izz>
</inertia>
</inertial>
<visual name="visual_Buoy">
<pose>0 0 -2.27 0 0 0</pose>
<geometry>
<mesh>
<uri>model://mbari_buoy/meshes/buoy_float.stl</uri>
</mesh>
</geometry>
<material>
<ambient>1.0 1.0 0.0 1</ambient>
<diffuse>1.0 1.0 0.0 1</diffuse>
<specular>1.0 1.0 0.0 1</specular>
</material>
</visual>
<collision name="collision">
<pose>0 0 0.19 0 0 0 </pose>
<geometry>
<box>
<size>2.34 2.34 1</size>
</box>
</geometry>
</collision>
</link>
</model>
</sdf>
186 changes: 186 additions & 0 deletions gz-waves-models/worlds/mbari_buoy.sdf
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<?xml version="1.0" ?>
<sdf version="1.6">
<world name="waves">
<physics name="1ms" type="ignore">
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
</physics>

<plugin filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin filename="gz-sim-sensors-system"
name="gz::sim::systems::Sensors">
<render_engine>ogre2</render_engine>
<background_color>0.8 0.8 0.8</background_color>
</plugin>
<plugin filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>
<plugin filename="gz-sim-user-commands-system"
name="gz::sim::systems::UserCommands">
</plugin>
<plugin filename="gz-sim-imu-system"
name="gz::sim::systems::Imu">
</plugin>

<!-- switch off gravity in physics engine when using added mass -->
<gravity>0 0 0</gravity>

<scene>
<ambient>1.0 1.0 1.0</ambient>
<background>0.8 0.8 0.8</background>
<sky></sky>
</scene>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.6 0.6 0.6 1</specular>
<direction>-0.5 0.1 -0.9</direction>
</light>

<include>
<uri>model://regular_waves_6s_2m</uri>
</include>

<include>
<pose>0 0 0 0 0 0</pose>
<uri>model://mbari_buoy</uri>
<name>mbari_buoy</name>
<plugin
filename="gz-waves1-linear-wave-body-system"
name="gz::sim::systems::LinearWaveBody">

<!-- BEM HDF5 data file -->
<hdf5_file>model://mbari_buoy/config/hydrodata/mbari_buoy.h5</hdf5_file>

<!-- waves parameter overrides -->
<waves>
<regular>
<period>6</period>
<height>2</height>
<direction>0</direction>
<phase>0</phase>
</regular>
</waves>

<!-- simulation parameter overrides -->
<simulation_parameters>
<gravity>9.81</gravity>
<fluid_density>1025</fluid_density>
</simulation_parameters>

<!-- geometry overrides -->
<geometry>
<center_of_waterplane>0 0 0</center_of_waterplane>
<center_of_buoyancy>0 0 -0.22</center_of_buoyancy>
<displaced_volume>2.39</displaced_volume>
</geometry>

<!--
Dimensioned hydrodynamics coefficients for T=6.0s (w = 1.0472 rad/s)
-->
<!-- <hydro_coeffs>
<scaled>0</scaled>
<hydrostatic>
<linear_restoring>
0. 0. 0. 0. 0. 0.
0. 0. 0. 0. 0. 0.
0. 0. 34690.6 0. 0. 0.
0. 0. 0. 14256.3 0. 0.
0. 0. 0. 0. 14256.3 0.
0. 0. 0. 0. 0. 0.
</linear_restoring>
</hydrostatic>
</hydro_coeffs> -->

<!-- enable / disable forces -->
<forces>
<gravity_on>1</gravity_on>
<buoyancy_on>1</buoyancy_on>
<hydrostatic_restoring_on>1</hydrostatic_restoring_on>
<radiation_damping_on>1</radiation_damping_on>
<radiation_added_mass_on>1</radiation_added_mass_on>
<excitation_on>1</excitation_on>
<excitation_froude_krylov_on>0</excitation_froude_krylov_on>
<excitation_scattering_on>0</excitation_scattering_on>
</forces>

<!-- enable / disable debug messages -->
<debug>
<gravity_on>0</gravity_on>
<buoyancy_on>0</buoyancy_on>
<radiation_damping_on>0</radiation_damping_on>
<radiation_added_mass_on>0</radiation_added_mass_on>
<excitation_on>0</excitation_on>
</debug>

<!-- publish forces -->
<publishers>
<update_rate>20</update_rate>

<gravity_on>1</gravity_on>
<buoyancy_on>1</buoyancy_on>
<hydrostatic_restoring_on>1</hydrostatic_restoring_on>
<radiation_damping_on>1</radiation_damping_on>
<radiation_added_mass_on>1</radiation_added_mass_on>
<excitation_on>1</excitation_on>
<excitation_froude_krylov_on>1</excitation_froude_krylov_on>
<excitation_scattering_on>1</excitation_scattering_on>

<gravity_topic>/force/gravity</gravity_topic>
<buoyancy_topic>/force/buoyancy</buoyancy_topic>
<hydrostatic_restoring_topic>/force/restoring</hydrostatic_restoring_topic>
<radiation_damping_topic>/force/radiation_damping</radiation_damping_topic>
<radiation_added_mass_topic>/force/radiation_added_mass</radiation_added_mass_topic>
<excitation_topic>/force/excitation</excitation_topic>
<excitation_froude_krylov_topic>/force/excitation_froude_krylov</excitation_froude_krylov_topic>
<excitation_scattering_topic>/force/excitation_scattering</excitation_scattering_topic>
</publishers>
</plugin>

<!--
To use this plugin for comparison, uncomment and disable all
forces except gravity in gz-waves1-linear-wave-body-system.
-->
<!-- <plugin
filename="gz-waves1-hydrodynamics-system"
name="gz::sim::systems::Hydrodynamics">
<enable>mbari_buoy::base_link::collision</enable>
<hydrodynamics>
<damping_on>1</damping_on>
<viscous_drag_on>1</viscous_drag_on>
<pressure_drag_on>1</pressure_drag_on>
</hydrodynamics>
</plugin> -->

<plugin
filename="gz-sim-joint-state-publisher-system"
name="gz::sim::systems::JointStatePublisher">
</plugin>

<plugin
filename="gz-sim-odometry-publisher-system"
name="gz::sim::systems::OdometryPublisher">
<odom_frame>odom</odom_frame>
<robot_base_frame>base_link</robot_base_frame>
<odom_publish_frequency>50</odom_publish_frequency>
<odom_topic>model/mbari_buoy/odometry</odom_topic>
<dimensions>3</dimensions>
</plugin>

<plugin
filename="gz-sim-pose-publisher-system"
name="gz::sim::systems::PosePublisher">
<publish_link_pose>true</publish_link_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>

</include>

</world>
</sdf>
75 changes: 75 additions & 0 deletions gz_waves_bridge/launch/mbari_buoy.launch.py
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"""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,
]
)