diff --git a/tutorials/adding_system_plugins.md b/tutorials/adding_system_plugins.md index ebac407e3d..0df852a22d 100644 --- a/tutorials/adding_system_plugins.md +++ b/tutorials/adding_system_plugins.md @@ -46,7 +46,7 @@ your turtle does not sink anymore. ```bash mkdir -p ~/gazebo_maritime/worlds -wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/adding_system_plugins/buoyant_turtle.sdf -o ~/gazebo_maritime/worlds/buoyant_turtle.sdf +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/adding_system_plugins/buoyant_turtle.sdf -O ~/gazebo_maritime/worlds/buoyant_turtle.sdf export GZ_SIM_RESOURCE_PATH=:$HOME/gazebo_maritime/models gz sim -r ~/gazebo_maritime/worlds/buoyant_turtle.sdf ``` diff --git a/tutorials/adding_visuals.md b/tutorials/adding_visuals.md index e9db517eb4..7df40c70b2 100644 --- a/tutorials/adding_visuals.md +++ b/tutorials/adding_visuals.md @@ -61,8 +61,8 @@ mkdir -p ~/gazebo_maritime/models/my_turtle/materials/textures Next, download the COLLADA mesh and its texture. ```bash -wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/adding_visuals/turtle.dae -o ~/gazebo_maritime/models/my_turtle/meshes/turtle.dae -wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/adding_visuals/Turtle_BaseColor.png -o ~/gazebo_maritime/models/my_turtle/materials/textures/Turtle_BaseColor.png +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/adding_visuals/turtle.dae -O ~/gazebo_maritime/models/my_turtle/meshes/turtle.dae +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/adding_visuals/Turtle_BaseColor.png -O ~/gazebo_maritime/models/my_turtle/materials/textures/Turtle_BaseColor.png ``` Now, let's edit our `model.sdf` to use the new mesh as our visual. diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/CMakeLists.txt b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/CMakeLists.txt deleted file mode 100644 index 9a23830c4f..0000000000 --- a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/CMakeLists.txt +++ /dev/null @@ -1,71 +0,0 @@ -cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) - -project(gazebo_maritime) - -find_package(gz-sim8 REQUIRED) -set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR}) -find_package(gz-common5 REQUIRED COMPONENTS graphics) -set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR}) -find_package(gz-math7 REQUIRED) -set(GZ_MATH_VER ${gz-math7_VERSION_MAJOR}) -find_package(gz-msgs10 REQUIRED) -set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR}) -find_package(gz-transport13 REQUIRED) -set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR}) -find_package(gz-plugin2 REQUIRED COMPONENTS loader register) -set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR}) -find_package(gz-rendering8 REQUIRED) -set(GZ_RENDERING_VER ${gz-rendering8_VERSION_MAJOR}) -find_package(gz-sensors8 REQUIRED) -set(GZ_SENSORS_VER ${gz-sensors8_VERSION_MAJOR}) -find_package(gz-utils2 REQUIRED) -set(GZ_UTILS_VER ${gz-utils2_VERSION_MAJOR}) -find_package(sdformat14 REQUIRED) -find_package(Eigen3 REQUIRED) - -# Waves -add_library(Waves SHARED - src/Wavefield.cc -) -target_link_libraries(Waves PUBLIC - Eigen3::Eigen - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} - gz-math${GZ_MATH_VER} - gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER} - gz-sim${GZ_SIM_VER}::core -) -install( - TARGETS Waves - DESTINATION lib) - -# Other plugins -list(APPEND MARITIME_GZ_PLUGINS - PublisherPlugin - Surface - WaveVisual -) - -foreach(PLUGIN ${MARITIME_GZ_PLUGINS}) - add_library(${PLUGIN} SHARED src/${PLUGIN}.cc) - target_link_libraries(${PLUGIN} PUBLIC - Eigen3::Eigen - gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER} - gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER} - gz-sensors${GZ_SENSORS_VER}::gz-sensors${GZ_SENSORS_VER} - gz-sim${GZ_SIM_VER}::core - gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER} - gz-utils${GZ_UTILS_VER}::gz-utils${GZ_UTILS_VER} - Waves - ) -endforeach() - -install( - TARGETS ${MARITIME_GZ_PLUGINS} - DESTINATION lib) - -#============================================================================ -# Resources -install(DIRECTORY - models - worlds - DESTINATION share/${PROJECT_NAME}) diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/materials/programs/GerstnerWaves_fs_330.glsl b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/materials/programs/GerstnerWaves_fs_330.glsl deleted file mode 100644 index 37d31b9818..0000000000 --- a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/materials/programs/GerstnerWaves_fs_330.glsl +++ /dev/null @@ -1,73 +0,0 @@ -// Copyright (c) 2016 The UUV Simulator Authors. -// All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#version 330 - -////////// Input parameters ////////// -// Textures -uniform sampler2D bumpMap; -uniform samplerCube cubeMap; - -// Colors -uniform vec4 deepColor; -uniform vec4 shallowColor; -uniform float fresnelPower; -uniform float hdrMultiplier; - -////////// Input computed in vertex shader ////////// -in block -{ - mat3 rotMatrix; - vec3 eyeVec; - vec2 bumpCoord; -} inPs; - -out vec4 fragColor; - -void main() -{ - // Apply bump mapping to normal vector to make waves look more detailed: - vec4 bump = texture(bumpMap, inPs.bumpCoord)*2.0 - 1.0; - vec3 N = normalize(inPs.rotMatrix * bump.xyz); - - // Reflected ray: - vec3 E = normalize(inPs.eyeVec); - vec3 R = reflect(E, N); - - // negate z for use with the skybox texture that comes with gz-rendering - R = vec3(R.x, R.y, -R.z); - - // uncomment this line if using other textures that are Y up - // Gazebo requires rotated cube map lookup. - // R = vec3(R.x, R.z, R.y); - - // Get environment color of reflected ray: - vec4 envColor = texture(cubeMap, R, 0.0); - - // Cheap hdr effect: - envColor.rgb *= (envColor.r+envColor.g+envColor.b)*hdrMultiplier; - - // Compute refraction ratio (Fresnel): - float facing = 1.0 - dot(-E, N); - float waterEnvRatio = clamp(pow(facing, fresnelPower), 0.05, 1.0); - - // Refracted ray only considers deep and shallow water colors: - vec4 waterColor = mix(shallowColor, deepColor, facing); - - // Perform linear interpolation between reflection and refraction. - vec4 color = mix(waterColor, envColor, waterEnvRatio); - - fragColor = vec4(color.xyz, 0.9); -} diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/materials/programs/GerstnerWaves_vs_330.glsl b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/materials/programs/GerstnerWaves_vs_330.glsl deleted file mode 100644 index 60fc8ea9cb..0000000000 --- a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/materials/programs/GerstnerWaves_vs_330.glsl +++ /dev/null @@ -1,147 +0,0 @@ -// Copyright (c) 2016 The UUV Simulator Authors. -// All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License.s - - -// Copyright (c) 2019 Rhys Mainwaring. -// -// Modified to accept vector parameters and use the form -// for Gerstner waves published in: -// -// Jerry Tessendorf, "Simulating Ocean Water", 1999-2004 -// -// theta = k * dir . x - omega * t -// -// px = x - dir.x * a * k * sin(theta) -// py = y - dir.y * a * k * sin(theta) -// pz = a * k * cos(theta) -// -// k is the wavenumber -// omega is the angular frequency -// -// The derivative terms (Tangent, Binormal, Normal) have been -// updated to be consistent with this convention. -// - -#version 330 - -in vec4 vertex; -in vec4 uv0; -uniform mat4 worldviewproj_matrix; - -/////////// Input parameters ////////// -// Waves -uniform int Nwaves; -uniform vec3 camera_position_object_space; -uniform float rescale; -uniform vec2 bumpScale; -uniform vec2 bumpSpeed; -uniform float t; -uniform vec3 amplitude; -uniform vec3 wavenumber; -uniform vec3 omega; -uniform vec3 steepness; -uniform vec2 dir0; -uniform vec2 dir1; -uniform vec2 dir2; -uniform float tau; - -/////////// Output variables to fragment shader ////////// -out block -{ - mat3 rotMatrix; - vec3 eyeVec; - vec2 bumpCoord; -} outVs; - -// Compute linear combination of Gerstner waves as described in -// GPU Gems, chapter 01: "Effective Water Simulation from Physical Models" -// http://http.developer.nvidia.com/GPUGems/gpugems_ch01.html - -// Information regarding a single wave -struct WaveParameters { - float k; // wavenumber - float a; // amplitude - float omega; // phase constant of speed - vec2 d; // horizontal direction of wave - float q; // steepness for Gerstner wave (q=0: rolling sine waves) -}; - - - -out gl_PerVertex -{ - vec4 gl_Position; -}; - -void main() -{ - // Use combination of three waves. Values here are chosen rather arbitrarily. - // Other parameters might lead to better-looking waves. - - WaveParameters waves[3]; - - waves[0] = WaveParameters(wavenumber.x, amplitude.x, omega.x, dir0.xy, steepness.x); - waves[1] = WaveParameters(wavenumber.y, amplitude.y, omega.y, dir1.xy, steepness.y); - waves[2] = WaveParameters(wavenumber.z, amplitude.z, omega.z, dir2.xy, steepness.z); - - vec4 P = vertex; - - // Iteratively compute binormal, tangent, and normal vectors: - vec3 B = vec3(1.0, 0.0, 0.0); - vec3 T = vec3(0.0, 1.0, 0.0); - vec3 N = vec3(0.0, 0.0, 1.0); - - // Wave synthesis using linear combination of Gerstner waves - for(int i = 0; i < Nwaves; ++i) - { - // Evaluate wave equation: - float k = waves[i].k; - float a = waves[i].a * (1.0 - exp(-1.0*t/tau)); - float q = waves[i].q; - float dx = waves[i].d.x; - float dy = waves[i].d.y; - float theta = dot(waves[i].d, P.xy)*k - t*waves[i].omega; - float c = cos(theta); - float s = sin(theta); - - // Displacement of point due to wave (Eq. 9) - P.x -= q*a*dx*s; - P.y -= q*a*dx*s; - P.z += a*c; - - // Modify normals due to wave displacement (Eq. 10-12) - float ka = a*k; - float qkac = q*ka*c; - float kas = ka*s; - float dxy = dx*dy; - - B += vec3(-qkac*dx*dx, -qkac*dxy, -kas*dx); - T += vec3(-qkac*dxy, -qkac*dy*dy, -kas*dy); - N += vec3(dx*kas, dy*kas, -qkac); - } - - // Compute (Surf2World * Rescale) matrix - B = normalize(B)*rescale; - T = normalize(T)*rescale; - N = normalize(N); - outVs.rotMatrix = mat3(B, T, N); - - gl_Position = worldviewproj_matrix * P; - - // Compute texture coordinates for bump map - outVs.bumpCoord = uv0.xy*bumpScale + t*bumpSpeed; - - outVs.eyeVec = P.xyz - camera_position_object_space; // eye position in vertex space -} diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/materials/textures/skybox_lowres.dds b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/materials/textures/skybox_lowres.dds deleted file mode 100644 index c6c8bd15dc..0000000000 Binary files a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/materials/textures/skybox_lowres.dds and /dev/null differ diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/materials/textures/wave_normals.dds b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/materials/textures/wave_normals.dds deleted file mode 100644 index 1f935490f2..0000000000 Binary files a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/materials/textures/wave_normals.dds and /dev/null differ diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/meshes/waterlow.dae b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/meshes/waterlow.dae deleted file mode 100644 index 01b99819b8..0000000000 --- a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/meshes/waterlow.dae +++ /dev/null @@ -1,361868 +0,0 @@ - - - - - - FBX COLLADA exporter - - - 2022-02-10T17:26:40Z - - 2022-02-10T17:26:40Z - - - - <unit meter="0.010000" name="centimeter"/> - <up_axis>Z_UP</up_axis> - </asset> - <library_geometries> - <geometry id="Plane013-lib" name="Plane013Mesh"> - <mesh> - <source id="Plane013-POSITION"> - <float_array id="Plane013-POSITION-array" count="102099"> --3000.000000 -3000.000000 0.000000 --1800.000000 -3000.000000 0.000000 --600.000000 -3000.000000 0.000000 -600.000000 -3000.000000 0.000000 -1800.000000 -3000.000000 0.000000 -3000.000000 -3000.000000 0.000000 --3000.000000 -1800.000000 0.000000 --1800.000000 -1800.000000 0.000000 --600.000000 -1800.000000 0.000000 -600.000000 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11164 113049 11164 3428 113050 3428 11165 113051 11165 11152 113052 11152 1064 113053 1064 10773 113054 10773 10773 113055 10773 3299 113056 3299 11161 113057 11161 11161 113058 11161 8288 113059 8288 11166 113060 11166 11166 113061 11166 3425 113062 3425 11152 113063 11152 11167 113064 11167 773 113065 773 11168 113066 11168 11168 113067 11168 3430 113068 3430 11169 113069 11169 11169 113070 11169 8289 113071 8289 11170 113072 11170 11170 113073 11170 3429 113074 3429 11167 113075 11167 11171 113076 11171 1102 113077 1102 11172 113078 11172 11172 113079 11172 3431 113080 3431 11173 113081 11173 11173 113082 11173 8289 113083 8289 11169 113084 11169 11169 113085 11169 3430 113086 3430 11171 113087 11171 11174 113088 11174 2407 113089 2407 11165 113090 11165 11165 113091 11165 3428 113092 3428 11175 113093 11175 11175 113094 11175 8289 113095 8289 11173 113096 11173 11173 113097 11173 3431 113098 3431 11174 113099 11174 11163 113100 11163 1101 113101 1101 11176 113102 11176 11176 113103 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113158 3431 11172 113159 11172 10845 113160 10845 152 113161 152 11185 113162 11185 11185 113163 11185 3434 113164 3434 11186 113165 11186 11186 113166 11186 8291 113167 8291 11187 113168 11187 11187 113169 11187 3318 113170 3318 10845 113171 10845 11188 113172 11188 1103 113173 1103 11189 113174 11189 11189 113175 11189 3435 113176 3435 11190 113177 11190 11190 113178 11190 8291 113179 8291 11186 113180 11186 11186 113181 11186 3434 113182 3434 11188 113183 11188 11191 113184 11191 2408 113185 2408 11192 113186 11192 11192 113187 11192 3436 113188 3436 11193 113189 11193 11193 113190 11193 8291 113191 8291 11190 113192 11190 11190 113193 11190 3435 113194 3435 11191 113195 11191 11194 113196 11194 1073 113197 1073 10848 113198 10848 10848 113199 10848 3318 113200 3318 11187 113201 11187 11187 113202 11187 8291 113203 8291 11193 113204 11193 11193 113205 11193 3436 113206 3436 11194 113207 11194 11195 113208 11195 399 113209 399 11196 113210 11196 11196 113211 11196 3438 113212 3438 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13286 125349 13286 4055 125350 4055 13272 125351 13272 13287 125352 13287 792 125353 792 13255 125354 13255 13255 125355 13255 4051 125356 4051 13288 125357 13288 13288 125358 13288 8601 125359 8601 13289 125360 13289 13289 125361 13289 4059 125362 4059 13287 125363 13287 13262 125364 13262 1258 125365 1258 13290 125366 13290 13290 125367 13290 4060 125368 4060 13291 125369 13291 13291 125370 13291 8601 125371 8601 13288 125372 13288 13288 125373 13288 4051 125374 4051 13262 125375 13262 13292 125376 13292 2485 125377 2485 13285 125378 13285 13285 125379 13285 4058 125380 4058 13293 125381 13293 13293 125382 13293 8601 125383 8601 13291 125384 13291 13291 125385 13291 4060 125386 4060 13292 125387 13292 13283 125388 13283 1260 125389 1260 13294 125390 13294 13294 125391 13294 4059 125392 4059 13289 125393 13289 13289 125394 13289 8601 125395 8601 13293 125396 13293 13293 125397 13293 4058 125398 4058 13283 125399 13283 13246 125400 13246 438 125401 438 13295 125402 13295 13295 125403 13295 4061 125404 4061 13296 125405 13296 13296 125406 13296 8602 125407 8602 13297 125408 13297 13297 125409 13297 4049 125410 4049 13246 125411 13246 13298 125412 13298 1259 125413 1259 13277 125414 13277 13277 125415 13277 4056 125416 4056 13299 125417 13299 13299 125418 13299 8602 125419 8602 13296 125420 13296 13296 125421 13296 4061 125422 4061 13298 125423 13298 13275 125424 13275 2485 125425 2485 13292 125426 13292 13292 125427 13292 4060 125428 4060 13300 125429 13300 13300 125430 13300 8602 125431 8602 13299 125432 13299 13299 125433 13299 4056 125434 4056 13275 125435 13275 13290 125436 13290 1258 125437 1258 13249 125438 13249 13249 125439 13249 4049 125440 4049 13297 125441 13297 13297 125442 13297 8602 125443 8602 13300 125444 13300 13300 125445 13300 4060 125446 4060 13290 125447 13290 13090 125448 13090 165 125449 165 13301 125450 13301 13301 125451 13301 4062 125452 4062 13302 125453 13302 13302 125454 13302 8603 125455 8603 13303 125456 13303 13303 125457 13303 4005 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13315 125513 13315 13315 125514 13315 8604 125515 8604 13312 125516 13312 13312 125517 13312 4042 125518 4042 13232 125519 13232 13316 125520 13316 2486 125521 2486 13307 125522 13307 13307 125523 13307 4063 125524 4063 13317 125525 13317 13317 125526 13317 8604 125527 8604 13315 125528 13315 13315 125529 13315 4066 125530 4066 13316 125531 13316 13305 125532 13305 1261 125533 1261 13318 125534 13318 13318 125535 13318 4065 125536 4065 13313 125537 13313 13313 125538 13313 8604 125539 8604 13317 125540 13317 13317 125541 13317 4063 125542 4063 13305 125543 13305 13216 125544 13216 792 125545 792 13287 125546 13287 13287 125547 13287 4059 125548 4059 13319 125549 13319 13319 125550 13319 8605 125551 8605 13320 125552 13320 13320 125553 13320 4040 125554 4040 13216 125555 13216 13294 125556 13294 1260 125557 1260 13321 125558 13321 13321 125559 13321 4067 125560 4067 13322 125561 13322 13322 125562 13322 8605 125563 8605 13319 125564 13319 13319 125565 13319 4059 125566 4059 13294 125567 13294 13323 125568 13323 2486 125569 2486 13316 125570 13316 13316 125571 13316 4066 125572 4066 13324 125573 13324 13324 125574 13324 8605 125575 8605 13322 125576 13322 13322 125577 13322 4067 125578 4067 13323 125579 13323 13314 125580 13314 1255 125581 1255 13219 125582 13219 13219 125583 13219 4040 125584 4040 13320 125585 13320 13320 125586 13320 8605 125587 8605 13324 125588 13324 13324 125589 13324 4066 125590 4066 13314 125591 13314 13279 125592 13279 434 125593 434 13101 125594 13101 13101 125595 13101 4008 125596 4008 13325 125597 13325 13325 125598 13325 8606 125599 8606 13326 125600 13326 13326 125601 13326 4057 125602 4057 13279 125603 13279 13110 125604 13110 1245 125605 1245 13310 125606 13310 13310 125607 13310 4064 125608 4064 13327 125609 13327 13327 125610 13327 8606 125611 8606 13325 125612 13325 13325 125613 13325 4008 125614 4008 13110 125615 13110 13308 125616 13308 2486 125617 2486 13323 125618 13323 13323 125619 13323 4067 125620 4067 13328 125621 13328 13328 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22002 9886 177283 9886 22004 177284 22004 22004 177285 22004 6655 177286 6655 21997 177287 21997 22005 177288 22005 112 177289 112 21533 177290 21533 21533 177291 21533 6520 177292 6520 22006 177293 22006 22006 177294 22006 9887 177295 9887 22007 177296 22007 22007 177297 22007 6656 177298 6656 22005 177299 22005 21544 177300 21544 1912 177301 1912 22008 177302 22008 22008 177303 22008 6657 177304 6657 22009 177305 22009 22009 177306 22009 9887 177307 9887 22006 177308 22006 22006 177309 22006 6520 177310 6520 21544 177311 21544 22010 177312 22010 2823 177313 2823 22011 177314 22011 22011 177315 22011 6658 177316 6658 22012 177317 22012 22012 177318 22012 9887 177319 9887 22009 177320 22009 22009 177321 22009 6657 177322 6657 22010 177323 22010 22013 177324 22013 1948 177325 1948 22014 177326 22014 22014 177327 22014 6656 177328 6656 22007 177329 22007 22007 177330 22007 9887 177331 9887 22012 177332 22012 22012 177333 22012 6658 177334 6658 22013 177335 22013 21566 177336 21566 620 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26246 7978 204069 7978 2278 204070 2278 26249 204071 26249</p> - </triangles> - </mesh> - </geometry> - </library_geometries> - <library_visual_scenes> - <visual_scene id="waterlow" name="waterlow"> - <node name="Plane013" id="Plane013" sid="Plane013"> - <matrix sid="matrix">100.000001 0.000000 0.000000 0.000000 0.000000 100.000001 0.000000 0.000000 0.000000 0.000000 100.000001 0.000000 0.000000 0.000000 0.000000 1.000000</matrix> - <instance_geometry url="#Plane013-lib"/> - <extra> - <technique profile="FCOLLADA"> - <visibility>1.000000</visibility> - </technique> - </extra> - </node> - <extra> - <technique profile="MAX3D"> - <frame_rate>30.000000</frame_rate> - </technique> - <technique profile="FCOLLADA"> - <start_time>0.000000</start_time> - <end_time>3.333333</end_time> - </technique> - </extra> - </visual_scene> - </library_visual_scenes> - <scene> - <instance_visual_scene url="#waterlow"/> - </scene> -</COLLADA> diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/model.config b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/model.config deleted file mode 100644 index 54cac6fae4..0000000000 --- a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/model.config +++ /dev/null @@ -1,14 +0,0 @@ -<?xml version='1.0'?> -<model> - <name>Coast Waves</name> - <version>1.0</version> - <sdf version='1.7'>model.sdf</sdf> - - <author> - <name>Ian Chen</name> - </author> - - <description> - Waves - visual only. Size: 6km x 6km - </description> -</model> diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/model.sdf b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/model.sdf deleted file mode 100644 index d6f3048cbf..0000000000 --- a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/coast_waves/model.sdf +++ /dev/null @@ -1,34 +0,0 @@ -<?xml version="1.0"?> -<sdf version="1.6"> - <model name="waves"> - <static>true</static> - <link name="link"> - <visual name= "wave_visual"> - <geometry> - <mesh> - <uri>meshes/waterlow.dae</uri> - </mesh> - </geometry> - <plugin filename="libWaveVisual.so" name="maritime::WaveVisual"> - <shader> - <vertex>materials/programs/GerstnerWaves_vs_330.glsl</vertex> - <fragment>materials/programs/GerstnerWaves_fs_330.glsl</fragment> - <parameters> - <rescale>0.125</rescale> - <bumpScale>75 75</bumpScale> - <bumpSpeed>0.01 0.0</bumpSpeed> - 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url="#Prop_Left-lib"> - <bind_material> - <technique_common> - <instance_material symbol="WamV" target="#WamV"/> - </technique_common> - </bind_material> - </instance_geometry> - <extra> - <technique profile="FCOLLADA"> - <visibility>1.000000</visibility> - </technique> - </extra> - </node> - <extra> - <technique profile="MAX3D"> - <frame_rate>30.000000</frame_rate> - </technique> - <technique profile="FCOLLADA"> - <start_time>0.000000</start_time> - <end_time>3.333333</end_time> - </technique> - </extra> - </visual_scene> - </library_visual_scenes> - <scene> - <instance_visual_scene url="#propeller"/> - </scene> -</COLLADA> diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/wam-v/model.config b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/wam-v/model.config deleted file mode 100644 index d82be9a947..0000000000 --- a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/wam-v/model.config +++ /dev/null @@ -1,15 +0,0 @@ -<?xml version="1.0"?> -<model> - <name>wamv</name> - <version>1.0</version> - <sdf version="1.6">model.sdf</sdf> - - <author> - <name>Carlos Agüero</name> - <email>caguero@openrobotics.org</email> - </author> - - <description> - A WAM-V platform. - </description> -</model> diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/wam-v/model.sdf b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/wam-v/model.sdf deleted file mode 100644 index 9de9b8938b..0000000000 --- a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/models/wam-v/model.sdf +++ /dev/null @@ -1,345 +0,0 @@ -<?xml version="1.0"?> - -<sdf version='1.6'> -<!-- Basic model of the 16' WAM-V USV --> -<model name="wamv"> - <static>false</static> - <link name="base_link"> - <enable_wind>true</enable_wind> - <inertial> - <mass>180.0</mass> - <inertia> - <ixx>120.0</ixx> - <ixy>0.0</ixy> - <ixz>0.0</ixz> - <iyy>393</iyy> - <iyz>0.0</iyz> - <izz>446.0</izz> - </inertia> - </inertial> - - <visual name="base_visual"> - <geometry> - <mesh><uri>meshes/WAM-V-Base.dae</uri></mesh> - </geometry> - </visual> - - <!-- Top base --> - <collision name="top_base"> - <pose>0 -0 1.25 0 0 0</pose> - <geometry> - <box><size>1.85 1 0.1" </size></box> - </geometry> - </collision> - - <!-- left base --> - <collision name="left_float"> - <pose>-0.4 1.03 0.2 0 1.57 0 </pose> - <geometry> - <cylinder><length>4</length><radius>0.2</radius></cylinder> - </geometry> - </collision> - <collision name="left_mid_float"> - <pose>1.85 1.03 0.3 0 1.38 0</pose> - <geometry> - <cylinder><length>0.5</length><radius>0.17</radius></cylinder> - </geometry> - </collision> - <collision name="left_front_float"> - <pose>2.3 1.03 0.4 0 1.3 0</pose> - <geometry> - <cylinder><length>0.45</length><radius>0.12</radius></cylinder> - </geometry> - </collision> - - <!-- right base --> - <collision name="right_float"> - <pose>-0.4 -1.03 0.2 0 1.57 0 </pose> - <geometry> - <cylinder><length>4</length><radius>0.2</radius></cylinder> - </geometry> - </collision> - <collision name="right_mid_float"> - <pose>1.85 -1.03 0.3 0 1.38 0</pose> - <geometry> - <cylinder><length>0.5</length><radius>0.17</radius></cylinder> - </geometry> - </collision> - <collision name="right_front_float"> - <pose>2.3 -1.03 0.4 0 1.3 0</pose> - <geometry> - <cylinder><length>0.45</length><radius>0.12</radius></cylinder> - </geometry> - </collision> - </link> - - <!-- left engine and thruster --> - <link name="left_engine_link"> - <pose>-2.373776 1.027135 0.318237 0 0 0</pose> - <visual name ="left_engine_visual"> - <geometry> - <mesh><uri>meshes/engine.dae</uri></mesh> - </geometry> - </visual> - <collision name="left_engine_vertical_axis_collision"> - <pose>-0.16 0 -0.24 0 0 0</pose> - <geometry> - <box><size>0.2 0.15 0.83</size></box> - </geometry> - </collision> - <collision name="left_engine_rear_end_collision"> - <pose>-0.34 0 0.12 0 0 0</pose> - <geometry> - <box><size>0.12 0.15 0.12</size></box> - </geometry> - </collision> - <inertial> - <mass>15.0</mass> - <inertia> - <ixx>0.889245</ixx> - <ixy>0.0</ixy> - <ixz>0.0</ixz> - <iyy>0.811125</iyy> - <iyz>0.0</iyz> - <izz>0.078125</izz> - </inertia> - </inertial> - </link> - <link name="left_propeller_link"> - <pose>-2.651932 1.027135 -0.191134 0 0 0</pose> - <visual name ="left_propeller_visual"> - <geometry> - <mesh><uri>meshes/propeller.dae</uri></mesh> - </geometry> - </visual> - <collision name="left_propeller_collision"> - <pose>-0.08 0 0 0 1.57 0</pose> - <geometry> - <cylinder><length>0.18</length><radius>0.24</radius></cylinder> - </geometry> - </collision> - <inertial> - <mass>0.5</mass> - <inertia> - <ixx>0.008545</ixx> - <ixy>0.0</ixy> - <ixz>0.0</ixz> - <iyy>0.008545</iyy> - <iyz>0.0</iyz> - <izz>0.0144</izz> - </inertia> - </inertial> - </link> - - <joint name="left_chasis_engine_joint" type="revolute"> - <axis> - <xyz>0 0 1</xyz> - <limit> - <lower>-1.57079</lower> - <upper>1.57079</upper> - <effort>10</effort> - <velocity>10</velocity> - </limit> - </axis> - <parent>base_link</parent> - <child>left_engine_link</child> - </joint> - - <joint name="left_engine_propeller_joint" type="revolute"> - <axis> - <xyz>1 0 0</xyz> - <limit> - <effort>100</effort> - <velocity>100</velocity> - </limit> - <dynamics> - <friction>0.05</friction> - <damping>0.05</damping> - </dynamics> - </axis> - <parent>left_engine_link</parent> - <child>left_propeller_link</child> - </joint> - - <!-- right engine and thruster --> - <link name="right_engine_link"> - <pose>-2.373776 -1.027135 0.318237 0 0 0</pose> - <visual name ="right_engine_visual"> - <geometry> - <mesh><uri>meshes/engine.dae</uri></mesh> - </geometry> - </visual> - <collision name="right_engine_vertical_axis_collision"> - <pose>-0.16 0 -0.24 0 0 0</pose> - <geometry> - <box><size>0.2 0.15 0.83</size></box> - </geometry> - </collision> - <collision name="right_engine_rear_end_collision"> - <pose>-0.34 0 0.12 0 0 0</pose> - <geometry> - <box><size>0.12 0.15 0.12</size></box> - </geometry> - </collision> - <inertial> - <mass>15.0</mass> - <inertia> - <ixx>0.889245</ixx> - <ixy>0.0</ixy> - <ixz>0.0</ixz> - <iyy>0.811125</iyy> - <iyz>0.0</iyz> - <izz>0.078125</izz> - </inertia> - </inertial> - </link> - <link name="right_propeller_link"> - <pose>-2.651932 -1.027135 -0.191134 0 0 0</pose> - <visual name ="right_propeller_visual"> - <geometry> - <mesh><uri>meshes/propeller.dae</uri></mesh> - </geometry> - </visual> - <collision name="right_propeller_collision"> - <pose>-0.08 0 0 0 1.57 0</pose> - <geometry> - <cylinder><length>0.18</length><radius>0.24</radius></cylinder> - </geometry> - </collision> - <inertial> - <mass>0.5</mass> - <inertia> - <ixx>0.008545</ixx> - <ixy>0.0</ixy> - <ixz>0.0</ixz> - <iyy>0.008545</iyy> - <iyz>0.0</iyz> - <izz>0.0144</izz> - </inertia> - </inertial> - </link> - - <joint name="right_chasis_engine_joint" type="revolute"> - <axis> - <xyz>0 0 1</xyz> - <limit> - <lower>-1.57079</lower> - <upper>1.57079</upper> - <effort>10</effort> - <velocity>10</velocity> - </limit> - </axis> - <parent>base_link</parent> - <child>right_engine_link</child> - </joint> - - <joint name="right_engine_propeller_joint" type="revolute"> - <axis> - <xyz>1 0 0</xyz> - <limit> - <effort>100</effort> - <velocity>100</velocity> - </limit> - <dynamics> - <friction>0.05</friction> - <damping>0.05</damping> - </dynamics> - </axis> - <parent>right_engine_link</parent> - <child>right_propeller_link</child> - </joint> - - <!-- Uncomment to enable the left thruster --> - <!-- <plugin - filename="gz-sim-thruster-system" - name="gz::sim::systems::Thruster"> - <joint_name>left_engine_propeller_joint</joint_name> - <thrust_coefficient>0.004422</thrust_coefficient> - <fluid_density>1000</fluid_density> - <propeller_diameter>0.2</propeller_diameter> - <velocity_control>true</velocity_control> - </plugin> - - <plugin - filename="gz-sim-joint-position-controller-system" - name="gz::sim::systems::JointPositionController"> - <joint_name>left_chasis_engine_joint</joint_name> - <use_velocity_commands>true</use_velocity_commands> - <topic>/wamv/left/thruster/joint/cmd_pos</topic> - </plugin> --> - - <!-- Uncomment to enable the right thruster --> - <!-- <plugin - filename="gz-sim-thruster-system" - name="gz::sim::systems::Thruster"> - <joint_name>right_engine_propeller_joint</joint_name> - <thrust_coefficient>0.004422</thrust_coefficient> - <fluid_density>1000</fluid_density> - <propeller_diameter>0.2</propeller_diameter> - <velocity_control>true</velocity_control> - </plugin> - - <plugin - filename="gz-sim-joint-position-controller-system" - name="gz::sim::systems::JointPositionController"> - <joint_name>right_chasis_engine_joint</joint_name> - <use_velocity_commands>true</use_velocity_commands> - <topic>/wamv/right/thruster/joint/cmd_pos</topic> - </plugin> --> - - <!-- Uncomment to produce buoyancy on the left hull --> - <!-- <plugin - filename="libSurface.so" - name="maritime::Surface"> - <link_name>base_link</link_name> - <hull_length>4.9</hull_length> - <hull_radius>0.213</hull_radius> - <fluid_level>0</fluid_level> - <points> - <point>0.6 1.03 0</point> - <point>-1.4 1.03 0</point> - </points> - <wavefield> - <topic>/gazebo/wavefield/parameters</topic> - </wavefield> - </plugin> --> - - <!-- Uncomment to produce buoyancy on the right hull --> - <!-- <plugin - filename="libSurface.so" - name="maritime::Surface"> - <link_name>base_link</link_name> - <hull_length>4.9</hull_length> - <hull_radius>0.213</hull_radius> - <fluid_level>0</fluid_level> - <points> - <point>0.6 -1.03 0</point> - <point>-1.4 -1.03 0</point> - </points> - <wavefield> - <topic>/gazebo/wavefield/parameters</topic> - </wavefield> - </plugin> --> - - <!-- Uncomment to enable hydrodynamics --> - <!-- <plugin - filename="gz-sim-hydrodynamics-system" - name="gz::sim::systems::Hydrodynamics"> - <link_name>base_link</link_name> - <xDotU>0.0</xDotU> - <yDotV>0.0</yDotV> - <nDotR>0.0</nDotR> - <xU>-51.3</xU> - <xAbsU>-72.4</xAbsU> - <yV>-40.0</yV> - <yAbsV>0.0</yAbsV> - <zW>-500.0</zW> - <kP>-50.0</kP> - <mQ>-50.0</mQ> - <nR>-400.0</nR> - <nAbsR>0.0</nAbsR> - </plugin> --> - -</model> - -</sdf> diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/PublisherPlugin.cc b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/PublisherPlugin.cc deleted file mode 100644 index 4ef907b3ea..0000000000 --- a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/PublisherPlugin.cc +++ /dev/null @@ -1,190 +0,0 @@ -/* - * Copyright (C) 2023 Open Source Robotics Foundation - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - * - */ -#include <google/protobuf/message.h> - -#include <chrono> -#include <string> -#include <gz/common/Profiler.hh> -#include <gz/plugin/Register.hh> -#include <gz/transport/Node.hh> -#include <sdf/sdf.hh> - -#include "PublisherPlugin.hh" - -using namespace gz; -using namespace maritime; - -/// \brief Private PublisherPlugin data class. -class maritime::PublisherPlugin::Implementation -{ - /// \brief Class that holds necessary bits for each specified message. - public: struct MessageInfo - { - /// \brief Message type - std::string msgType; - - /// \brief Message topic - std::string topic; - - /// \brief Protobuf message parsed from the human-readable string specified - /// in the <message> element of the plugin's configuration. - transport::ProtoMsgPtr msgData; - - /// \brief Simulation time to start publishing messages (secs). - double at = 0; - - /// \brief Re-publish the message every seconds. - double every = 0; - - /// \brief Transport publisher. - transport::Node::Publisher pub; - }; - - /// \brief A transport node. - public: transport::Node node; - - /// \brief List of messages. - public: std::vector<MessageInfo> messages; -}; - -////////////////////////////////////////////////// -PublisherPlugin::PublisherPlugin() - : System(), dataPtr(utils::MakeUniqueImpl<Implementation>()) -{ -} - -////////////////////////////////////////////////// -void PublisherPlugin::Configure(const sim::Entity &_entity, - const std::shared_ptr<const sdf::Element> &_sdf, - sim::EntityComponentManager &_ecm, - sim::EventManager &/*_eventMgr*/) -{ - sdf::ElementPtr sdfClone = _sdf->Clone(); - - if (sdfClone->HasElement("message")) - { - for (auto messageElem = sdfClone->GetElement("message"); messageElem; - messageElem = messageElem->GetNextElement("message")) - { - Implementation::MessageInfo info; - - // Process the message type. - info.msgType = messageElem->Get<std::string>("type"); - if (info.msgType.empty()) - { - gzerr << "Message type cannot be empty\n"; - continue; - } - - // Process the topic name. - auto topic = messageElem->Get<std::string>("topic"); - info.topic = transport::TopicUtils::AsValidTopic(topic); - if (info.topic.empty()) - { - gzerr << "Invalid topic [" << topic << "]" << std::endl; - continue; - } - - // Process the <at> element. - if (messageElem->HasAttribute("at")) - { - info.at = messageElem->Get<double>("at"); - if (info.at < 0) - { - gzerr << "Invalid <at> [" << info.at << "]" << std::endl; - continue; - } - } - - // Process the <every> element. - if (messageElem->HasAttribute("every")) - { - info.every = messageElem->Get<double>("every"); - if (info.every < 0) - { - gzerr << "Invalid <every> [" << info.every << "]" << std::endl; - continue; - } - } - - const std::string msgStr = messageElem->Get<std::string>(); - info.msgData = msgs::Factory::New(info.msgType, msgStr); - if (info.msgData) - { - info.pub = this->dataPtr->node.Advertise( - info.topic, info.msgData->GetTypeName()); - if (info.pub.Valid()) - { - this->dataPtr->messages.push_back(std::move(info)); - } - else - { - gzerr << "Message publisher could not be created for topic [" - << info.topic << "] with message type [" << info.msgType - << "]" << std::endl; - } - } - else - { - gzerr << "Unable to create message of type [" << info.msgType - << "] with data [" << msgStr << "] when creating message" - << " publisher on topic " << info.topic << ".\n"; - } - } - } -} - -////////////////////////////////////////////////// -void PublisherPlugin::PreUpdate(const sim::UpdateInfo &_info, - sim::EntityComponentManager &_ecm) -{ - GZ_PROFILE("Publisher::PreUpdate"); - - if (_info.paused) - return; - - // Iterate through the messages and publish when needed. - auto iter = this->dataPtr->messages.begin(); - while (iter != this->dataPtr->messages.end()) - { - // Time to publish a new message. - if (std::chrono::duration<double>(_info.simTime).count() >= iter->at) - { - iter->pub.Publish(*iter->msgData); - - // Single message. - if (iter->every == 0) - iter = this->dataPtr->messages.erase(iter); - // Repeated message. - else - { - iter->at += iter->every; - ++iter; - } - } - else - ++iter; - } -} - -GZ_ADD_PLUGIN(PublisherPlugin, - sim::System, - PublisherPlugin::ISystemConfigure, - PublisherPlugin::ISystemPreUpdate) - -GZ_ADD_PLUGIN_ALIAS(maritime::PublisherPlugin, - "maritime::PublisherPlugin") diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/PublisherPlugin.hh b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/PublisherPlugin.hh deleted file mode 100644 index ce73c6c43a..0000000000 --- a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/PublisherPlugin.hh +++ /dev/null @@ -1,93 +0,0 @@ -/* - * Copyright (C) 2023 Open Source Robotics Foundation - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - * - */ - -#ifndef MARITIME_PUBLISHERPLUGIN_HH_ -#define MARITIME_PUBLISHERPLUGIN_HH_ - -#include <memory> -#include <gz/sim/System.hh> -#include <gz/utils/ImplPtr.hh> -#include <sdf/sdf.hh> - -namespace maritime -{ - /// \brief A system to publish user specified messages at a given time. - /// It's also possible to publish the message repeatedly. - /// - /// ## Required system parameters - /// - /// * `<message>` is the tag containing the message information. - /// It's possible to specify multiple messages. - /// - /// * Required attributes: - /// - `<type>` is the message type (eg. `gz.msgs.Boolean`). - /// - `<topic>` is the topic name where the message will be published. - /// * Optional attributes: - /// - `<at>` Simulation time to start publishing the message (seconds). - /// Default value is to publish the message when simulation - /// starts. - /// - `<every>` Continue publishing the message after <every> seconds. - /// Default value is 0, which means only publish once. - /// * Value: String used to construct the protobuf message . This is - /// the human-readable representation of a protobuf message as used by - /// `gz topic` for publishing messages. - /// - /// ## Example - /// <plugin filename="libPublisherPlugin.so" name="maritime::PublisherPlugin"> - /// <message type="gz.msgs.Param" topic="/maritime/wavefield/parameters" - /// at="0.0" every="2.0"> - /// params { - /// key: "amplitude" - /// value { - /// type: DOUBLE - /// double_value: 0 - /// } - /// } - /// </message> - /// <message type="gz.msgs.StringMsg" topic="/foo" - /// at="5.0" every="1.0"> - /// data: "hello boat" - /// </message> - /// </plugin> - class PublisherPlugin - : public gz::sim::System, - public gz::sim::ISystemConfigure, - public gz::sim::ISystemPreUpdate - { - /// \brief Constructor. - public: PublisherPlugin(); - - /// \brief Destructor. - public: ~PublisherPlugin() override = default; - - // Documentation inherited. - public: void Configure(const gz::sim::Entity &_entity, - const std::shared_ptr<const sdf::Element> &_sdf, - gz::sim::EntityComponentManager &_ecm, - gz::sim::EventManager &_eventMgr) override; - - // Documentation inherited. - public: void PreUpdate( - const gz::sim::UpdateInfo &_info, - gz::sim::EntityComponentManager &_ecm) override; - - /// \brief Private data pointer. - GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr) - }; -} - -#endif diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/Surface.cc b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/Surface.cc deleted file mode 100644 index a0bb5c83a3..0000000000 --- a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/Surface.cc +++ /dev/null @@ -1,315 +0,0 @@ -/* - * Copyright (C) 2022 Open Source Robotics Foundation - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - * - */ -#include <gz/msgs/param.pb.h> -#include <chrono> -#include <memory> -#include <mutex> -#include <string> -#include <vector> -#include <gz/common/Profiler.hh> -#include <gz/math/Vector3.hh> -#include <gz/plugin/Register.hh> -#include <sdf/sdf.hh> - -#include "gz/sim/Link.hh" -#include "gz/sim/Model.hh" -#include "gz/sim/Util.hh" -#include "gz/sim/World.hh" -#include "gz/transport/Node.hh" - -#include "Surface.hh" -#include "Wavefield.hh" - -using namespace gz; -using namespace maritime; - -/// \brief Private Surface data class. -class Surface::Implementation -{ - /// \brief Parse the points via SDF. - /// \param[in] _sdf Pointer to the SDF. - public: void ParsePoints(const std::shared_ptr<const sdf::Element> &_sdf); - - /// \brief Callback for receiving wave field updates. - /// \param[in] _msg The message containing all the wave field parameters. - public: void OnWavefield(const msgs::Param &_msg); - - /// \brief The link entity. - public: sim::Link link{sim::kNullEntity}; - - /// \brief Vessel length [m]. - public: double hullLength = 4.9; - - /// \brief Demi-hull radius [m]. - public: double hullRadius = 0.213; - - /// \brief Fluid height [m]. - public: double fluidLevel = 0; - - /// \brief Fluid density [kg/m^3]. - public: double fluidDensity = 997.7735; - - /// \brief The world's gravity [m/s^2]. - public: math::Vector3d gravity; - - /// \brief The points where the plugin applies forces. These points are - /// relative to the link paramter's origin. Note that we don't check that the - /// points are contained within the hull. You should pass reasonable points. - public: std::vector<math::Vector3d> points; - - /// \brief The wavefield. - public: Wavefield wavefield; - - /// \brief A node for receiving wavefield updates. - public: transport::Node node; - - /// \brief Mutex to protect the wavefield. - public: std::mutex mutex; -}; - -////////////////////////////////////////////////// -void Surface::Implementation::ParsePoints( - const std::shared_ptr<const sdf::Element> &_sdf) -{ - if (!_sdf->HasElement("points")) - return; - - auto ptr = const_cast<sdf::Element *>(_sdf.get()); - auto sdfPoints = ptr->GetElement("points"); - - // We need at least one point. - if (!sdfPoints->HasElement("point")) - gzerr << "Unable to find <points><point> element in SDF." << std::endl; - - auto pointElem = sdfPoints->GetElement("point"); - - // Parse a new point. - while (pointElem) - { - math::Vector3d point; - pointElem->GetValue()->Get<math::Vector3d>(point); - this->points.push_back(point); - - // Parse the next point. - pointElem = pointElem->GetNextElement("point"); - } -} - -////////////////////////////////////////////////// -void Surface::Implementation::OnWavefield(const msgs::Param &_msg) -{ - std::lock_guard<std::mutex> lock(this->mutex); - this->wavefield.Load(_msg); -} - -////////////////////////////////////////////////// -Surface::Surface() - : System(), dataPtr(utils::MakeUniqueImpl<Implementation>()) -{ -} - -////////////////////////////////////////////////// -void Surface::Configure(const sim::Entity &_entity, - const std::shared_ptr<const sdf::Element> &_sdf, - sim::EntityComponentManager &_ecm, - sim::EventManager &/*_eventMgr*/) -{ - // Parse required elements. - if (!_sdf->HasElement("link_name")) - { - gzerr << "No <link_name> specified" << std::endl; - return; - } - - sim::Model model(_entity); - std::string linkName = _sdf->Get<std::string>("link_name"); - this->dataPtr->link = sim::Link(model.LinkByName(_ecm, linkName)); - if (!this->dataPtr->link.Valid(_ecm)) - { - gzerr << "Could not find link named [" << linkName - << "] in model" << std::endl; - return; - } - - // Optional parameters. - // Although some of these parameters are required in this plugin, a potential - // derived plugin might not need them. Make sure that the default values are - // reasonable. - if (_sdf->HasElement("hull_length")) - { - this->dataPtr->hullLength = _sdf->Get<double>("hull_length"); - } - - if (_sdf->HasElement("hull_radius")) - { - this->dataPtr->hullRadius = _sdf->Get<double>("hull_radius"); - } - - if (_sdf->HasElement("fluid_level")) - { - this->dataPtr->fluidLevel = _sdf->Get<double>("fluid_level"); - } - - if (_sdf->HasElement("fluid_density")) - { - this->dataPtr->fluidDensity = _sdf->Get<double>("fluid_density"); - } - - // Parse the optional <points> element. - this->dataPtr->ParsePoints(_sdf); - - // Get the gravity from the world. - auto worldEntity = sim::worldEntity(_ecm); - auto world = sim::World(worldEntity); - auto gravityOpt = world.Gravity(_ecm); - if (!gravityOpt) - { - gzerr << "Unable to get the gravity from the world" << std::endl; - return; - } - this->dataPtr->gravity = *gravityOpt; - - // Wavefield - this->dataPtr->wavefield.Load(_sdf); - - gzdbg << "Surface plugin successfully configured with the following " - << "parameters:" << std::endl; - gzdbg << " <link_name>: " << linkName << std::endl; - gzdbg << " <vehicle_length>: " << this->dataPtr->hullLength << std::endl; - gzdbg << " <hull_radius>: " << this->dataPtr->hullRadius << std::endl; - gzdbg << " <fluid_level>: " << this->dataPtr->fluidLevel << std::endl; - gzdbg << " <fluid_density>: " << this->dataPtr->fluidDensity << std::endl; - gzdbg << " <points>:" << std::endl; - for (const auto &p : this->dataPtr->points) - gzdbg << " [" << p << "]" << std::endl; - - // Subscribe to receive wavefield parameters. - this->dataPtr->node.Subscribe(this->dataPtr->wavefield.Topic(), - &Surface::Implementation::OnWavefield, this->dataPtr.get()); -} - -////////////////////////////////////////////////// -void Surface::PreUpdate(const sim::UpdateInfo &_info, - sim::EntityComponentManager &_ecm) -{ - GZ_PROFILE("Surface::PreUpdate"); - - if (_info.paused) - return; - - // Vehicle frame transform. - const auto kPose = this->dataPtr->link.WorldPose(_ecm); - if (!kPose) - { - gzerr << "Unable to get world pose from link [" - << this->dataPtr->link.Entity() << "]" << std::endl; - return; - } - const math::Vector3d kEuler = (*kPose).Rot().Euler(); - math::Quaternion vq(kEuler.X(), kEuler.Y(), kEuler.Z()); - - std::lock_guard<std::mutex> lock(this->dataPtr->mutex); - - for (auto const &bpnt : this->dataPtr->points) - { - // Transform from vessel to fluid/world frame. - const math::Vector3d kBpntW = vq * bpnt; - - // Vertical location of boat grid point in world frame. - const float kDdz = (*kPose).Pos().Z() + kBpntW.Z(); - - // World location of grid point. - math::Vector3d point; - point.X() = (*kPose).Pos().X() + kBpntW.X(); - point.Y() = (*kPose).Pos().Y() + kBpntW.Y(); - - // Compute the depth at the grid point. - double simTime = std::chrono::duration<double>(_info.simTime).count(); - double depth = this->dataPtr->wavefield.ComputeDepthSimply(point, simTime); - - // Vertical wave displacement. - double dz = depth + point.Z(); - - // Total z location of boat grid point relative to fluid surface. - double deltaZ = (this->dataPtr->fluidLevel + dz) - kDdz; - // Enforce only upward buoy force - deltaZ = std::max(deltaZ, 0.0); - deltaZ = std::min(deltaZ, this->dataPtr->hullRadius); - - const float kBuoyForce = - this->CircleSegment(this->dataPtr->hullRadius, deltaZ) * - this->dataPtr->hullLength / this->dataPtr->points.size() * - -this->dataPtr->gravity.Z() * this->dataPtr->fluidDensity; - - // Apply force at the point. - // Position is in the link frame and force is in world frame. - this->dataPtr->link.AddWorldForce(_ecm, - math::Vector3d(0, 0, kBuoyForce), - bpnt); - - // Debug output: - // gzdbg << bpnt.X() << "," << bpnt.Y() << "," << bpnt.Z() << std::endl; - // gzdbg << "depth: " << depth << std::endl; - // gzdbg << "dz: " << dz << std::endl; - // gzdbg << "kDdz: " << kDdz << std::endl; - // gzdbg << "deltaZ: " << deltaZ << std::endl; - // gzdbg << "hull radius: " << this->dataPtr->hullRadius << std::endl; - // gzdbg << "vehicle length: " << this->dataPtr->hullLength << std::endl; - // gzdbg << "gravity z: " << -this->dataPtr->gravity.Z() << std::endl; - // gzdbg << "fluid density: " << this->dataPtr->fluidDensity << std::endl; - // gzdbg << "Force: " << kBuoyForce << std::endl << std::endl; - } -} - -////////////////////////////////////////////////// -math::Vector3d Surface::Gravity() const -{ - return this->dataPtr->gravity; -} - -////////////////////////////////////////////////// -double Surface::HullLength() const -{ - return this->dataPtr->hullLength; -} - -////////////////////////////////////////////////// -double Surface::HullRadius() const -{ - return this->dataPtr->hullRadius; -} - -////////////////////////////////////////////////// -double Surface::FluidDensity() const -{ - return this->dataPtr->fluidDensity; -} - -////////////////////////////////////////////////// -double Surface::CircleSegment(double _r, double _h) const -{ - return _r * _r * acos((_r -_h) / _r ) - - (_r - _h) * sqrt(2 * _r * _h - _h * _h); -} - -GZ_ADD_PLUGIN(Surface, - sim::System, - Surface::ISystemConfigure, - Surface::ISystemPreUpdate) - -GZ_ADD_PLUGIN_ALIAS(maritime::Surface, - "maritime::Surface") diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/Surface.hh b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/Surface.hh deleted file mode 100644 index 281c9374c1..0000000000 --- a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/Surface.hh +++ /dev/null @@ -1,166 +0,0 @@ -/* - * Copyright (C) 2022 Open Source Robotics Foundation - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - * - */ - -#ifndef MARITIME_SURFACE_HH_ -#define MARITIME_SURFACE_HH_ - -#include <memory> -#include <gz/sim/System.hh> -#include <gz/math/Vector3.hh> -#include <gz/utils/ImplPtr.hh> -#include <sdf/sdf.hh> - -namespace maritime -{ - /// \brief A system that simulates the buoyancy of an object at the surface of - /// a fluid. This system must be attached to a model and the system will apply - /// buoyancy to a collection of points around a given link. - /// - /// This system models the vehicle's buoyancy assuming a single hull with a - /// cylindrical shape. It's possible to derive from this plugin and provide - /// your own buoyancy function at each point. For this purpose you - /// should override `BuoyancyAtPoint()` in the derived plugin. - /// - /// This plugin also supports waves. If you provide a wavefield via SDF, the - /// plugin will account for the delta Z that the waves generate at each point. - /// - /// ## Required system parameters - /// - /// * `<link_name>` is the name of the link used to apply forces. - /// - /// ## Optional system parameters - /// - /// * `<vehicle_length>` is the length of the vessel [m]. - /// * `<hull_radius>` is the radius of the vessel's hull [m]. - /// * `<fluid_level>` is the depth at which the fluid should be in the vehicle - /// * `<fluid_density>` is the density of the fluid. - /// * `<points>` contains a collection of points where the forces generated - /// by this plugin will be applied. See the format of each point - /// next: - /// * `<point><position>` Relative position of the point relative to - /// `link_name`. - /// * <wavefield>: The wavefield parameters. See `Wavefield.hh`. - /// - /// ## Example - /// <plugin - /// filename="gz-sim-surface-system" - /// name="gz::sim::systems::Surface"> - /// <link_name>base_link</link_name> - /// <vehicle_length>4.9</vehicle_length> - /// <vehicle_width>2.4</vehicle_width> - /// <hull_radius>0.213</hull_radius> - /// <fluid_level>0</fluid_level> - - /// <!-- Points --> - /// <points> - /// <point> - /// <position>1.225 1.2 0</position> - /// </point> - /// <point> - /// <position>1.225 -1.2 0</position> - /// </point> - /// <point> - /// <position>-1.225 1.2 0</position> - /// </point> - /// <point> - /// <position>-1.225 -1.2 0</position> - /// </point> - /// </points> - - /// <!-- Waves --> - /// <wavefield> - /// <size><%= $wavefield_size%> <%= $wavefield_size%></size> - /// <cell_count><%= $wavefield_cell_count%> <%=$wavefield_cell_count%></cell_count> - /// <wave> - /// <model>PMS</model> - /// <period>5.0</period> - /// <number>3</number> - /// <scale>1.1</scale> - /// <gain>0.5</gain> - /// <direction>1 0</direction> - /// <angle>0.4</angle> - /// <tau>2.0</tau> - /// <amplitude>0.0</amplitude> - /// <steepness>0.0</steepness> - /// </wave> - /// </wavefield> - /// </plugin> - class Surface - : public gz::sim::System, - public gz::sim::ISystemConfigure, - public gz::sim::ISystemPreUpdate - { - /// \brief Constructor. - public: Surface(); - - /// \brief Destructor. - public: ~Surface() override = default; - - // Documentation inherited. - public: void Configure(const gz::sim::Entity &_entity, - const std::shared_ptr<const sdf::Element> &_sdf, - gz::sim::EntityComponentManager &_ecm, - gz::sim::EventManager &_eventMgr) override; - - // Documentation inherited. - public: void PreUpdate( - const gz::sim::UpdateInfo &_info, - gz::sim::EntityComponentManager &_ecm) override; - - /// \brief Get the gravity component. - /// \return Gravity vector. - public: gz::math::Vector3d Gravity() const; - - /// \brief Get the vehicle length. - /// \return Vechicle length in m. - public: double HullLength() const; - - /// \brief Get the hull radius. - /// \return The hull radius in m. - public: double HullRadius() const; - - /// \brief Get the fluid density. - /// \return The fluid density in kg/m^3. - public: double FluidDensity() const; - - /// \brief Compute the buoyancy generated at a point in the vehicle. - /// \param[in] _info Simulator information about the current timestep. - /// \param[in] _point The point. - /// \param[in] _deltaZ Total Z location of the point relative to fluid - /// surface. - /// \param[in] _ecm Ignition's ECM. - // public: virtual double BuoyancyAtPoint( - // const gz::sim::UpdateInfo &_info, - // const gz::math::Vector3d &_point, - // const uint16_t _pointsPerHull, - // double _deltaZ, - // gz::sim::EntityComponentManager &_ecm); - - /// \brief Convenience function for calculating the area of circle segment. - /// \param[in] _r Radius of circle. - /// \param[in] _h Height of the chord line. - /// \return The area. - /// \ref https://www.mathopenref.com/segmentareaht.html - public: double CircleSegment(double _r, - double _h) const; - - /// \brief Private data pointer. - GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr) - }; -} - -#endif diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/WaveVisual.cc b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/WaveVisual.cc deleted file mode 100644 index 07f7d76fc2..0000000000 --- a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/WaveVisual.cc +++ /dev/null @@ -1,448 +0,0 @@ -/* - * Copyright (C) 2022 Open Source Robotics Foundation - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - * - */ - -#include <gz/msgs/param.pb.h> - -#include <chrono> -#include <list> -#include <mutex> -#include <string> - -#include <gz/common/Profiler.hh> -#include <gz/plugin/Register.hh> -#include <gz/rendering/Material.hh> -#include <gz/rendering/RenderingIface.hh> -#include <gz/rendering/Scene.hh> -#include <gz/rendering/ShaderParams.hh> -#include <gz/rendering/Visual.hh> -#include <gz/transport/Node.hh> - -#include <sdf/Element.hh> - -#include "gz/sim/components/Name.hh" -#include "gz/sim/components/SourceFilePath.hh" -#include "gz/sim/rendering/Events.hh" -#include "gz/sim/rendering/RenderUtil.hh" -#include "gz/sim/Util.hh" - -#include "Wavefield.hh" -#include "WaveVisual.hh" - -using namespace gz; -using namespace maritime; - -class maritime::WaveVisual::Implementation -{ - /// \brief Path to vertex shader - public: std::string vertexShaderUri; - - /// \brief Path to fragment shader - public: std::string fragmentShaderUri; - - /// \brief Mutex to protect sim time updates. - public: std::mutex mutex; - - /// \brief Connection to pre-render event callback - public: common::ConnectionPtr connection{nullptr}; - - /// \brief Name of visual this plugin is attached to - public: std::string visualName; - - /// \brief Pointer to visual - public: rendering::VisualPtr visual; - - /// \brief Material used by this visual - public: rendering::MaterialPtr material; - - /// \brief Pointer to scene - public: rendering::ScenePtr scene; - - /// \brief Entity id of the visual - public: sim::Entity entity = sim::kNullEntity; - - /// \brief Current sim time - public: std::chrono::steady_clock::duration currentSimTime; - - /// \brief Path to model - public: std::string modelPath; - - /// \brief Wavefield for computing wave params - public: Wavefield wavefield; - - /// \brief Indicate whether the shader params have been set or not - public: bool paramsSet = false; - - /// \brief Shader param. Recale x and y components of normals. - public: float rescale = 0.5f; - - /// \brief Shader param. Bump map scale. - public: math::Vector2d bumpScale = math::Vector2d(25.0, 25.0); - - /// \brief Shader param. Bump map speed in x and y. - public: math::Vector2d bumpSpeed = math::Vector2d(0.01f, 0.01f); - - /// \brief Shader param. HDR multiplier. - public: float hdrMultiplier = 0.4f; - - /// \brief Shader param. Fresnel power. - public: float fresnelPower = 5.0f; - - /// \brief Shader param. Color of shallow water. - public: math::Color shallowColor = math::Color(0.0f, 0.1f, 0.3f, 1.0f); - - /// \brief Shader param. Color of deep water. - public: math::Color deepColor = math::Color(0.0f, 0.05f, 0.2f, 1.0f); - - /// \brief Transport node. - public: transport::Node node; - - /// \brief All rendering operations must happen within this call - public: void OnUpdate(); - - /// \brief Callback for receiving wave field updates. - /// \param[in] _msg The message containing all the wave field parameters. - public: void OnWavefield(const msgs::Param &_msg); -}; - -///////////////////////////////////////////////// -WaveVisual::WaveVisual() - : System(), dataPtr(utils::MakeUniqueImpl<Implementation>()) -{ -} - -///////////////////////////////////////////////// -WaveVisual::~WaveVisual() -{ -} - -///////////////////////////////////////////////// -void WaveVisual::Configure(const sim::Entity &_entity, - const std::shared_ptr<const sdf::Element> &_sdf, - sim::EntityComponentManager &_ecm, - sim::EventManager &_eventMgr) -{ - GZ_PROFILE("WaveVisual::Configure"); - // Ugly, but needed because the sdf::Element::GetElement is not a const - // function and _sdf is a const shared pointer to a const sdf::Element. - auto sdf = const_cast<sdf::Element *>(_sdf.get()); - - if (!sdf->HasElement("wavefield")) - { - gzerr << "<wavefield> parameter is missing " << std::endl; - return; - } - if (!sdf->HasElement("shader")) - { - gzerr << "<shader> parameter is missing " << std::endl; - return; - } - - this->dataPtr->wavefield.Load(_sdf); - - if (this->dataPtr->modelPath.empty()) - { - auto modelEntity = topLevelModel(_entity, _ecm); - this->dataPtr->modelPath = - _ecm.ComponentData<sim::components::SourceFilePath>(modelEntity).value(); - } - - // parse path to shaders - sdf::ElementPtr shaderElem = sdf->GetElement("shader"); - if (!shaderElem->HasElement("vertex") || - !shaderElem->HasElement("fragment")) - { - gzerr << "<shader> must have <vertex> and <fragment> sdf elements" - << std::endl; - return; - } - else - { - sdf::ElementPtr vertexElem = shaderElem->GetElement("vertex"); - this->dataPtr->vertexShaderUri = common::findFile(sim::asFullPath( - vertexElem->Get<std::string>(), this->dataPtr->modelPath)); - sdf::ElementPtr fragmentElem = shaderElem->GetElement("fragment"); - this->dataPtr->fragmentShaderUri = common::findFile(sim::asFullPath( - fragmentElem->Get<std::string>(), this->dataPtr->modelPath)); - } - - // parse shader params - if (shaderElem->HasElement("parameters")) - { - sdf::ElementPtr paramElem = shaderElem->GetElement("parameters"); - if (paramElem->HasElement("rescale")) - { - this->dataPtr->rescale = paramElem->GetElement("rescale")->Get<float>(); - } - if (paramElem->HasElement("bumpScale")) - { - this->dataPtr->bumpScale = - paramElem->GetElement("bumpScale")->Get<math::Vector2d>(); - } - if (paramElem->HasElement("hdrMultiplier")) - { - this->dataPtr->hdrMultiplier = - paramElem->GetElement("hdrMultiplier")->Get<float>(); - } - if (paramElem->HasElement("fresnelPower")) - { - this->dataPtr->fresnelPower = - paramElem->GetElement("fresnelPower")->Get<float>(); - } - if (paramElem->HasElement("shallowColor")) - { - this->dataPtr->shallowColor = - paramElem->GetElement("shallowColor")->Get<math::Color>(); - } - if (paramElem->HasElement("deepColor")) - { - this->dataPtr->deepColor = - paramElem->GetElement("deepColor")->Get<math::Color>(); - } - } - - this->dataPtr->entity = _entity; - auto nameComp = _ecm.Component<sim::components::Name>(_entity); - this->dataPtr->visualName = nameComp->Data(); - - // connect to the SceneUpdate event - // the callback is executed in the rendering thread so do all - // rendering operations in that thread - this->dataPtr->connection = - _eventMgr.Connect<sim::events::SceneUpdate>( - std::bind(&WaveVisual::Implementation::OnUpdate, this->dataPtr.get())); - - // Subscribe to receive the wavefield parameters. - this->dataPtr->node.Subscribe(this->dataPtr->wavefield.Topic(), - &WaveVisual::Implementation::OnWavefield, this->dataPtr.get()); -} - -////////////////////////////////////////////////// -void WaveVisual::PreUpdate( - const sim::UpdateInfo &_info, - sim::EntityComponentManager &) -{ - GZ_PROFILE("WaveVisual::PreUpdate"); - std::lock_guard<std::mutex> lock(this->dataPtr->mutex); - this->dataPtr->currentSimTime = _info.simTime; -} - -////////////////////////////////////////////////// -void WaveVisual::Implementation::OnUpdate() -{ - if (this->visualName.empty()) - return; - - if (!this->scene) - this->scene = rendering::sceneFromFirstRenderEngine(); - - if (!this->scene) - return; - - if (!this->visual) - { - // this does a breadth first search for visual with the entity id - // \todo(anyone) provide a helper function in RenderUtil to search for - // visual by entity id? - auto rootVis = scene->RootVisual(); - std::list<rendering::NodePtr> nodes; - nodes.push_back(rootVis); - while (!nodes.empty()) - { - auto n = nodes.front(); - nodes.pop_front(); - if (n && n->HasUserData("gazebo-entity")) - { - // RenderUti stores gazebo-entity user data as int - // \todo(anyone) Change this to uint64_t in Gazebo H? - auto variant = n->UserData("gazebo-entity"); - const uint64_t *value = std::get_if<uint64_t>(&variant); - if (value && *value == static_cast<uint64_t>(this->entity)) - { - this->visual = std::dynamic_pointer_cast<rendering::Visual>(n); - break; - } - } - for (unsigned int i = 0; i < n->ChildCount(); ++i) - nodes.push_back(n->ChildByIndex(i)); - } - } - - if (!this->visual) - return; - - // get the material and set shaders - if (!this->material) - { - auto mat = scene->CreateMaterial(); - mat->SetVertexShader(this->vertexShaderUri); - mat->SetFragmentShader(this->fragmentShaderUri); - this->visual->SetMaterial(mat); - scene->DestroyMaterial(mat); - this->material = this->visual->Material(); - } - - if (!this->material) - return; - - std::lock_guard<std::mutex> lock(this->mutex); - - // params that only need to be set once - if (!this->paramsSet) - { - auto vsParams = this->material->VertexShaderParams(); - - (*vsParams)["worldviewproj_matrix"] = 1; - - // bump map parameters - // rescale - scale x and y components of normals - (*vsParams)["rescale"] = this->rescale; - - // size of bump map - float bumpScaleV[2] = { - static_cast<float>(this->bumpScale.X()), - static_cast<float>(this->bumpScale.Y())}; - (*vsParams)["bumpScale"].InitializeBuffer(2); - (*vsParams)["bumpScale"].UpdateBuffer(bumpScaleV); - - // bump map speed in x and y - float bumpSpeedV[2] = { - static_cast<float>(this->bumpSpeed.X()), - static_cast<float>(this->bumpSpeed.Y())}; - (*vsParams)["bumpSpeed"].InitializeBuffer(2); - (*vsParams)["bumpSpeed"].UpdateBuffer(bumpSpeedV); - - // wavefield parameters: - (*vsParams)["Nwaves"] = static_cast<int>(this->wavefield.Number()); - float amplitudeV[3] = { - static_cast<float>(this->wavefield.Amplitude_V()[0]), - static_cast<float>(this->wavefield.Amplitude_V()[1]), - static_cast<float>(this->wavefield.Amplitude_V()[2])}; - (*vsParams)["amplitude"].InitializeBuffer(3); - (*vsParams)["amplitude"].UpdateBuffer(amplitudeV); - - float wavenumberV[3] = { - static_cast<float>(this->wavefield.Wavenumber_V()[0]), - static_cast<float>(this->wavefield.Wavenumber_V()[1]), - static_cast<float>(this->wavefield.Wavenumber_V()[2])}; - (*vsParams)["wavenumber"].InitializeBuffer(3); - (*vsParams)["wavenumber"].UpdateBuffer(wavenumberV); - - float omegaV[3] = { - static_cast<float>(this->wavefield.AngularFrequency_V()[0]), - static_cast<float>(this->wavefield.AngularFrequency_V()[1]), - static_cast<float>(this->wavefield.AngularFrequency_V()[2])}; - (*vsParams)["omega"].InitializeBuffer(3); - (*vsParams)["omega"].UpdateBuffer(omegaV); - - auto directions0 = this->wavefield.Direction_V()[0]; - float dir0[2] = { - static_cast<float>(directions0.X()), - static_cast<float>(directions0.Y())}; - (*vsParams)["dir0"].InitializeBuffer(2); - (*vsParams)["dir0"].UpdateBuffer(dir0); - - auto directions1 = this->wavefield.Direction_V()[1]; - float dir1[2] = { - static_cast<float>(directions1.X()), - static_cast<float>(directions1.Y())}; - (*vsParams)["dir1"].InitializeBuffer(2); - (*vsParams)["dir1"].UpdateBuffer(dir1); - - auto directions2 = this->wavefield.Direction_V()[2]; - float dir2[2] = { - static_cast<float>(directions2.X()), - static_cast<float>(directions2.Y())}; - (*vsParams)["dir2"].InitializeBuffer(2); - (*vsParams)["dir2"].UpdateBuffer(dir2); - - float steepnessV[3] = { - static_cast<float>(this->wavefield.Steepness_V()[0]), - static_cast<float>(this->wavefield.Steepness_V()[1]), - static_cast<float>(this->wavefield.Steepness_V()[2])}; - (*vsParams)["steepness"].InitializeBuffer(3); - (*vsParams)["steepness"].UpdateBuffer(steepnessV); - - float tau = this->wavefield.Tau(); - (*vsParams)["tau"] = tau; - - // camera_position_object_space is a constant defined by ogre. - (*vsParams)["camera_position_object_space"] = 1; - - // set fragment shader params - auto fsParams = this->material->FragmentShaderParams(); - - // HDR effect - (*fsParams)["hdrMultiplier"] = this->hdrMultiplier; - - // Fresnel power - refraction - (*fsParams)["fresnelPower"] = this->fresnelPower; - - // water color: - float shallowColorV[4] = { - static_cast<float>(this->shallowColor.R()), - static_cast<float>(this->shallowColor.G()), - static_cast<float>(this->shallowColor.B()), - static_cast<float>(this->shallowColor.A())}; - (*fsParams)["shallowColor"].InitializeBuffer(4); - (*fsParams)["shallowColor"].UpdateBuffer(shallowColorV); - - float deepColorV[4] = { - static_cast<float>(this->deepColor.R()), - static_cast<float>(this->deepColor.G()), - static_cast<float>(this->deepColor.B()), - static_cast<float>(this->deepColor.A())}; - (*fsParams)["deepColor"].InitializeBuffer(4); - (*fsParams)["deepColor"].UpdateBuffer(deepColorV); - - // \todo(anyone) find a more generic way of getting path to the textures - // than using hard coded material paths - std::string bumpMapPath = common::findFile( - sim::asFullPath("materials/textures/wave_normals.dds", - this->modelPath)); - (*fsParams)["bumpMap"].SetTexture(bumpMapPath, - rendering::ShaderParam::ParamType::PARAM_TEXTURE); - - std::string cubeMapPath = common::findFile( - sim::asFullPath("materials/textures/skybox_lowres.dds", this->modelPath)); - (*fsParams)["cubeMap"].SetTexture(cubeMapPath, - rendering::ShaderParam::ParamType::PARAM_TEXTURE_CUBE, 1u); - this->paramsSet = true; - } - - // time variables need to be updated every iteration - { - float floatValue = (std::chrono::duration_cast<std::chrono::nanoseconds>( - this->currentSimTime).count()) * 1e-9; - rendering::ShaderParamsPtr params; - params = this->material->VertexShaderParams(); - (*params)["t"] = floatValue; - } -} - -////////////////////////////////////////////////// -void WaveVisual::Implementation::OnWavefield(const msgs::Param &_msg) -{ - std::lock_guard<std::mutex> lock(this->mutex); - this->wavefield.Load(_msg); -} - -GZ_ADD_PLUGIN(maritime::WaveVisual, - sim::System, - WaveVisual::ISystemConfigure, - WaveVisual::ISystemPreUpdate) - -GZ_ADD_PLUGIN_ALIAS(WaveVisual, "maritime::WaveVisual") diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/WaveVisual.hh b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/WaveVisual.hh deleted file mode 100644 index acba88a51f..0000000000 --- a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/WaveVisual.hh +++ /dev/null @@ -1,64 +0,0 @@ -/* - * Copyright (C) 2022 Open Source Robotics Foundation - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - * -*/ - -#ifndef MARITIME_WAVEVISUAL_HH_ -#define MARITIME_WAVEVISUAL_HH_ - -#include <memory> -#include <gz/utils/ImplPtr.hh> - -#include "gz/sim/System.hh" - -namespace maritime -{ - /// \brief A plugin for setting shaders to a visual and its params - /// - /// Plugin parameters: - /// - /// <shader> - /// <vertex> Path to wave vertex program - /// <fragment> Path to wave fragment program - /// <wavefield> Wavefield parameters - see Wavefield.hh - /// - class WaveVisual - : public gz::sim::System, - public gz::sim::ISystemConfigure, - public gz::sim::ISystemPreUpdate - { - /// \brief Constructor - public: WaveVisual(); - - /// \brief Destructor - public: ~WaveVisual() override; - - // Documentation inherited - public: void Configure(const gz::sim::Entity &_entity, - const std::shared_ptr<const sdf::Element> &_sdf, - gz::sim::EntityComponentManager &_ecm, - gz::sim::EventManager &_eventMgr) final; - - /// Documentation inherited - public: void PreUpdate( - const gz::sim::UpdateInfo &_info, - gz::sim::EntityComponentManager &_ecm) override; - - /// \brief Private data pointer. - GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr) - }; -} - -#endif diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/Wavefield.cc b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/Wavefield.cc deleted file mode 100644 index 36fe77ba54..0000000000 --- a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/Wavefield.cc +++ /dev/null @@ -1,891 +0,0 @@ -/* - * Copyright (C) 2019 Rhys Mainwaring - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - * -*/ - -#include <gz/msgs/any.pb.h> -#include <gz/msgs/param.pb.h> - -#include <cmath> -#include <cstddef> -#include <memory> -#include <ostream> -#include <string> -#include <vector> - -#include <Eigen/Dense> -#include <gz/common/Console.hh> -#include <gz/math/Pose3.hh> -#include <gz/math/Vector2.hh> -#include <gz/math/Vector3.hh> - -#include "Wavefield.hh" - -using namespace gz; -using namespace maritime; - -/////////////////////////////////////////////////////////////////////////////// -// Utilities -std::ostream& operator<<(std::ostream &_os, const std::vector<double> &_vec) -{ - for (auto&& v : _vec ) // NOLINT - _os << v << ", "; - return _os; -} - -/////////////////////////////////////////////////////////////////////////////// -/// \brief Private data for the WavefieldParameters. -class Wavefield::Implementation -{ - /// \brief Constructor. - public: Implementation(): - size({6000, 6000}), - cellCount({300, 300}), - model("PMS"), - number(3), - scale(1.1), - angle(0.4), - steepness(0.0), - amplitude(0.0), - period(5.0), - phase(0.0), - direction(0.0), - angularFrequency(2.0*M_PI), - wavelength(2 * M_PI / this->DeepWaterDispersionToWavenumber(2.0 * M_PI)), - wavenumber(this->DeepWaterDispersionToWavenumber(2.0 * M_PI)), - tau(2.0), - gain(1.0) - { - } - - /// \brief Populate a msg::Param with the current wavefield parameters. - public: void FillParameters(); - - /// \brief Recalculate for constant wavelength-amplitude ratio. - public: void RecalculateCwr(); - - /// \brief Recalculate for Pierson-Moskowitz spectrum sampling model. - public: void RecalculatePms(); - - /// \brief Recalculate all derived quantities from inputs. - public: void Recalculate(); - - /// \brief Helper function. - public: double DeepWaterDispersionToOmega(double _wavenumber) const; - - /// \brief Helper function. - public: double DeepWaterDispersionToWavenumber(double _omega) const; - - /// \brief Pierson-Moskowitz wave spectrum. - public: double Pm(double _omega, double _omegaP) const; - - /// \brief The size of the wavefield. - public: math::Vector2d size; - - /// \brief The number of grid cells in the wavefield. - public: math::Vector2d cellCount; - - /// \brief Name of wavefield model to use - must be "PMS" or "CWR" - public: std::string model; - - /// \brief The number of component waves. - public: size_t number; - - /// \brief Set the scale of the largest and smallest waves. - public: double scale; - - /// \brief Set the angle between component waves and the mean direction. - public: double angle; - - /// \brief Control the wave steepness. 0 is sine waves, 1 is Gerstner waves. - public: double steepness; - - /// \brief The mean wave amplitude [m]. - public: double amplitude; - - /// \brief The mean wave period [s] - public: double period; - - /// \brief The mean wave phase (not currently enabled). - public: double phase; - - /// \brief The mean wave direction. - public: double direction; - - /// \brief The time constant for exponential increasing waves on startup - public: double tau; - - /// \brief The multiplier applied to PM spectra - public: double gain; - - /// \brief The mean wave angular frequency (derived). - public: double angularFrequency; - - /// \brief The mean wavelength (derived). - public: double wavelength; - - /// \brief The mean wavenumber (derived). - public: double wavenumber; - - /// \brief The component wave angular frequencies (derived). - public: std::vector<double> angularFrequencies; - - /// \brief The component wave amplitudes (derived). - public: std::vector<double> amplitudes; - - /// \brief The component wave phases (derived). - public: std::vector<double> phases; - - /// \brief The component wave steepness factors (derived). - public: std::vector<double> steepnesses; - - /// \brief The component wavenumbers (derived). - public: std::vector<double> wavenumbers; - - /// \brief The component wave dirctions (derived). - public: std::vector<math::Vector2d> directions; - - /// \brief True when waves are present. - public: bool active = false; - - /// \brief Topic to publish/receive wavefield updates. - public: std::string topic = "/wavefield/parameters"; - - /// \brief A msgs::Param containing all parameters. This is useful to - /// communicate all wavefield parameters via Transport. - public: msgs::Param params; -}; - -/////////////////////////////////////////////////////////////////////////////// -void Wavefield::Implementation::RecalculateCwr() -{ - // Derived mean values - this->angularFrequency = 2.0 * M_PI / this->period; - this->wavenumber = \ - this->DeepWaterDispersionToWavenumber(this->angularFrequency); - this->wavelength = 2.0 * M_PI / this->wavenumber; - - // Update components - this->angularFrequencies.clear(); - this->amplitudes.clear(); - this->phases.clear(); - this->wavenumbers.clear(); - this->steepnesses.clear(); - this->directions.clear(); - - for (size_t i = 0; i < this->number; ++i) - { - const int n = i - this->number / 2; - const double scaleFactor = std::pow(this->scale, n); - const double a = scaleFactor * this->amplitude; - const double k = this->wavenumber / scaleFactor; - const double omega = this->DeepWaterDispersionToOmega(k); - const double phi = this->phase; - double q = 0.0; - if (!math::equal(a, 0.0)) - { - q = std::min(1.0, this->steepness / (a * k * this->number)); - } - - this->amplitudes.push_back(a); - this->angularFrequencies.push_back(omega); - this->phases.push_back(phi); - this->steepnesses.push_back(q); - this->wavenumbers.push_back(k); - - // Direction - const double c = std::cos((n * this->angle) + this->direction); - const double s = std::sin((n * this->angle) + this->direction); - - const math::Vector2d d(c, s); - - directions.push_back(d); - } -} - -/////////////////////////////////////////////////////////////////////////////// -double Wavefield::Implementation::Pm(double _omega, double _omegaP) const -{ - double alpha = 0.0081; - double g = 9.81; - return alpha * std::pow(g, 2.0) / std::pow(_omega, 5.0) * \ - std::exp(-(5.0 / 4.0) * std::pow(_omegaP / _omega, 4.0)); -} - -/////////////////////////////////////////////////////////////////////////////// -void Wavefield::Implementation::RecalculatePms() -{ - // Derived mean values - this->angularFrequency = 2.0 * M_PI / this->period; - this->wavenumber = \ - this->DeepWaterDispersionToWavenumber(this->angularFrequency); - this->wavelength = 2.0 * M_PI / this->wavenumber; - - // Update components - this->angularFrequencies.clear(); - this->amplitudes.clear(); - this->phases.clear(); - this->wavenumbers.clear(); - this->steepnesses.clear(); - this->directions.clear(); - - // Vector for spaceing - std::vector<double> omegaSpacing; - omegaSpacing.push_back(this->angularFrequency * (1.0 - 1.0 / this->scale)); - omegaSpacing.push_back(this->angularFrequency * \ - (this->scale - 1.0 / this->scale) / 2.0); - omegaSpacing.push_back(this->angularFrequency * (this->scale - 1.0)); - - for (size_t i = 0; i < this->number; ++i) - { - const int n = i - 1; - const double scaleFactor = std::pow(this->scale, n); - const double omega = this->angularFrequency * scaleFactor; - const double pms = this->Pm(omega, this->angularFrequency); - const double a = this->gain * std::sqrt(2.0 * pms * omegaSpacing[i]); - const double k = this->DeepWaterDispersionToWavenumber(omega); - const double phi = this->phase; - double q = 0.0; - if (!math::equal(a, 0.0)) - { - q = std::min(1.0, this->steepness / (a * k * this->number)); - } - - this->amplitudes.push_back(a); - this->angularFrequencies.push_back(omega); - this->phases.push_back(phi); - this->steepnesses.push_back(q); - this->wavenumbers.push_back(k); - - // Direction - const double c = std::cos((n * this->angle) + this->direction); - const double s = std::sin((n * this->angle) + this->direction); - - const math::Vector2d d(c, s); - - directions.push_back(d); - } -} - -///////////////////////////////////////////////// -void Wavefield::Implementation::Recalculate() -{ - if (!this->model.compare("PMS")) - { - this->RecalculatePms(); - } - else if (!this->model.compare("CWR")) - { - this->RecalculateCwr(); - } - else - { - gzwarn << "Wavefield model specified as <" << this->model - << "> which is not one of the two supported wavefield models: " - << "PMS or CWR!!!" << std::endl; - } -} - -///////////////////////////////////////////////// -double Wavefield::Implementation::DeepWaterDispersionToOmega(double _wavenumber) - const -{ - const double g = std::fabs(-9.8); - return std::sqrt(g * _wavenumber); -} - -///////////////////////////////////////////////// -double Wavefield::Implementation::DeepWaterDispersionToWavenumber(double _omega) - const -{ - const double g = std::fabs(-9.8); - return _omega * _omega / g; -} - -/////////////////////////////////////////////////////////////////////////////// -void Wavefield::Implementation::FillParameters() -{ - this->params.mutable_params()->clear(); - auto *params = this->params.mutable_params(); - - // size. - gz::msgs::Any sizeValue; - sizeValue.set_type(gz::msgs::Any_ValueType::Any_ValueType_VECTOR3D); - sizeValue.mutable_vector3d_value()->set_x(this->size.X()); - sizeValue.mutable_vector3d_value()->set_y(this->size.Y()); - (*params)["size"] = sizeValue; - - // cell_count - gz::msgs::Any cellCountValue; - cellCountValue.set_type(gz::msgs::Any_ValueType::Any_ValueType_VECTOR3D); - cellCountValue.mutable_vector3d_value()->set_x(this->cellCount.X()); - cellCountValue.mutable_vector3d_value()->set_y(this->cellCount.Y()); - (*params)["cell_count"] = cellCountValue; - - // number - gz::msgs::Any numberValue; - numberValue.set_type(gz::msgs::Any_ValueType::Any_ValueType_INT32); - numberValue.set_int_value(this->number); - (*params)["number"] = numberValue; - - // scale - gz::msgs::Any scaleValue; - scaleValue.set_type(gz::msgs::Any_ValueType::Any_ValueType_DOUBLE); - scaleValue.set_double_value(this->scale); - (*params)["scale"] = scaleValue; - - // angle - gz::msgs::Any angleValue; - angleValue.set_type(gz::msgs::Any_ValueType::Any_ValueType_DOUBLE); - angleValue.set_double_value(this->angle); - (*params)["angle"] = angleValue; - - // steepness - gz::msgs::Any steepnessValue; - steepnessValue.set_type(gz::msgs::Any_ValueType::Any_ValueType_DOUBLE); - steepnessValue.set_double_value(this->steepness); - (*params)["steepness"] = steepnessValue; - - // amplitude - gz::msgs::Any amplitudeValue; - amplitudeValue.set_type(gz::msgs::Any_ValueType::Any_ValueType_DOUBLE); - amplitudeValue.set_double_value(this->amplitude); - (*params)["amplitude"] = amplitudeValue; - - // period - gz::msgs::Any periodValue; - periodValue.set_type(gz::msgs::Any_ValueType::Any_ValueType_DOUBLE); - periodValue.set_double_value(this->period); - (*params)["period"] = periodValue; - - // phase - gz::msgs::Any phaseValue; - phaseValue.set_type(gz::msgs::Any_ValueType::Any_ValueType_DOUBLE); - phaseValue.set_double_value(this->phase); - (*params)["phase"] = phaseValue; - - // direction. - gz::msgs::Any directionValue; - directionValue.set_type(gz::msgs::Any_ValueType::Any_ValueType_DOUBLE); - directionValue.set_double_value(this->direction); - (*params)["direction"] = directionValue; - - // model - gz::msgs::Any modelValue; - modelValue.set_type(gz::msgs::Any_ValueType::Any_ValueType_STRING); - modelValue.set_string_value(this->model); - (*params)["model"] = modelValue; - - // gain - gz::msgs::Any gainValue; - gainValue.set_type(gz::msgs::Any_ValueType::Any_ValueType_DOUBLE); - gainValue.set_double_value(this->gain); - (*params)["gain"] = gainValue; - - // tau - gz::msgs::Any tauValue; - tauValue.set_type(gz::msgs::Any_ValueType::Any_ValueType_DOUBLE); - tauValue.set_double_value(this->tau); - (*params)["tau"] = tauValue; -} - -///////////////////////////////////////////////////////////////////////////// -Wavefield::Wavefield() - : dataPtr(utils::MakeUniqueImpl<Implementation>()) -{ - this->dataPtr->Recalculate(); -} - -/////////////////////////////////////////////////////////////////////////////// -Wavefield::~Wavefield() -{ -} - -/////////////////////////////////////////////////////////////////////////////// -void Wavefield::Load(const std::shared_ptr<const sdf::Element> &_sdf) -{ - if (!_sdf->HasElement("wavefield")) - return; - - auto ptr = const_cast<sdf::Element *>(_sdf.get()); - auto sdfWavefield = ptr->GetElement("wavefield"); - - this->dataPtr->topic = sdfWavefield->Get<std::string>("topic", - this->dataPtr->topic).first; - this->dataPtr->size = sdfWavefield->Get<math::Vector2d>("size", - this->dataPtr->size).first; - this->dataPtr->cellCount = sdfWavefield->Get<math::Vector2d>("cell_count", - this->dataPtr->cellCount).first; - if (sdfWavefield->HasElement("wave")) - { - auto sdfWave = sdfWavefield->GetElement("wave"); - - this->dataPtr->model = sdfWave->Get<std::string>("model", "PMS").first; - this->dataPtr->number = - sdfWave->Get<double>("number", this->dataPtr->number).first; - this->dataPtr->amplitude = - sdfWave->Get<double>("amplitude", this->dataPtr->amplitude).first; - this->dataPtr->period = - sdfWave->Get<double>("period", this->dataPtr->period).first; - this->dataPtr->phase = sdfWave->Get<double>("phase", this->dataPtr->phase).first; - this->dataPtr->direction = - sdfWave->Get<double>("direction", this->dataPtr->direction).first; - this->dataPtr->scale = sdfWave->Get<double>("scale", this->dataPtr->scale).first; - this->dataPtr->angle = sdfWave->Get<double>("angle", this->dataPtr->angle).first; - this->dataPtr->steepness = - sdfWave->Get<double>("steepness", this->dataPtr->steepness).first; - this->dataPtr->tau = sdfWave->Get<double>("tau", this->dataPtr->tau).first; - this->dataPtr->gain = sdfWave->Get<double>("gain", this->dataPtr->gain).first; - - this->dataPtr->Recalculate(); - } - - this->dataPtr->FillParameters(); - this->DebugPrint(); - this->dataPtr->active = true; -} - -/////////////////////////////////////////////////////////////////////////////// -void Wavefield::Load(const msgs::Param &_msg) -{ - auto params = _msg.params(); - - if (params.count("size") > 0) - { - this->dataPtr->size = {params["size"].vector3d_value().x(), - params["size"].vector3d_value().y()}; - } - if (params.count("cell_count") > 0) - { - this->dataPtr->cellCount = {params["cell_count"].vector3d_value().x(), - params["cell_count"].vector3d_value().y()}; - } - if (params.count("number") > 0) - { - this->dataPtr->number = params["number"].int_value(); - } - if (params.count("scale") > 0) - { - this->dataPtr->scale = params["scale"].double_value(); - } - if (params.count("angle") > 0) - { - this->dataPtr->angle = params["angle"].double_value(); - } - if (params.count("steepness") > 0) - { - this->dataPtr->steepness = params["steepness"].double_value(); - } - if (params.count("amplitude") > 0) - { - this->dataPtr->amplitude = params["amplitude"].double_value(); - } - if (params.count("period") > 0) - { - this->dataPtr->period = params["period"].double_value(); - } - if (params.count("phase") > 0) - { - this->dataPtr->phase = params["phase"].double_value(); - } - if (params.count("direction") > 0) - { - this->dataPtr->direction = params["direction"].double_value(); - } - if (params.count("model") > 0) - { - this->dataPtr->model = params["model"].string_value(); - } - if (params.count("gain") > 0) - { - this->dataPtr->gain = params["gain"].double_value(); - } - if (params.count("tau") > 0) - { - this->dataPtr->tau = params["tau"].double_value(); - } - - this->dataPtr->FillParameters(); - this->dataPtr->Recalculate(); - this->dataPtr->active = true; -} - -/////////////////////////////////////////////////////////////////////////////// -std::string Wavefield::Topic() const -{ - return this->dataPtr->topic; -} - -/////////////////////////////////////////////////////////////////////////////// -bool Wavefield::Active() const -{ - return this->dataPtr->active; -} - -/////////////////////////////////////////////////////////////////////////////// -size_t Wavefield::Number() const -{ - return this->dataPtr->number; -} - -/////////////////////////////////////////////////////////////////////////////// -double Wavefield::Angle() const -{ - return this->dataPtr->angle; -} - -/////////////////////////////////////////////////////////////////////////////// -double Wavefield::Scale() const -{ - return this->dataPtr->scale; -} - -/////////////////////////////////////////////////////////////////////////////// -double Wavefield::Steepness() const -{ - return this->dataPtr->steepness; -} - -/////////////////////////////////////////////////////////////////////////////// -double Wavefield::AngularFrequency() const -{ - return this->dataPtr->angularFrequency; -} - -/////////////////////////////////////////////////////////////////////////////// -double Wavefield::Amplitude() const -{ - return this->dataPtr->amplitude; -} - -/////////////////////////////////////////////////////////////////////////////// -double Wavefield::Period() const -{ - return this->dataPtr->period; -} - -/////////////////////////////////////////////////////////////////////////////// -double Wavefield::Phase() const -{ - return this->dataPtr->phase; -} - -/////////////////////////////////////////////////////////////////////////////// -double Wavefield::Wavelength() const -{ - return this->dataPtr->wavelength; -} - -/////////////////////////////////////////////////////////////////////////////// -double Wavefield::Wavenumber() const -{ - return this->dataPtr->wavenumber; -} - -/////////////////////////////////////////////////////////////////////////////// -float Wavefield::Tau() const -{ - return this->dataPtr->tau; -} - -/////////////////////////////////////////////////////////////////////////////// -float Wavefield::Gain() const -{ - return this->dataPtr->gain; -} - -/////////////////////////////////////////////////////////////////////////////// -double Wavefield::Direction() const -{ - return this->dataPtr->direction; -} - -/////////////////////////////////////////////////////////////////////////////// -void Wavefield::SetNumber(size_t _number) -{ - this->dataPtr->number = _number; - this->dataPtr->Recalculate(); -} - -/////////////////////////////////////////////////////////////////////////////// -void Wavefield::SetAngle(double _angle) -{ - this->dataPtr->angle = _angle; - this->dataPtr->Recalculate(); -} - -/////////////////////////////////////////////////////////////////////////////// -void Wavefield::SetScale(double _scale) -{ - this->dataPtr->scale = _scale; - this->dataPtr->Recalculate(); -} - -/////////////////////////////////////////////////////////////////////////////// -void Wavefield::SetSteepness(double _steepness) -{ - this->dataPtr->steepness = _steepness; - this->dataPtr->Recalculate(); -} - -/////////////////////////////////////////////////////////////////////////////// -void Wavefield::SetAmplitude(double _amplitude) -{ - this->dataPtr->amplitude = _amplitude; - this->dataPtr->Recalculate(); -} - -/////////////////////////////////////////////////////////////////////////////// -void Wavefield::SetPeriod(double _period) -{ - this->dataPtr->period = _period; - this->dataPtr->Recalculate(); -} - -/////////////////////////////////////////////////////////////////////////////// -void Wavefield::SetPhase(double _phase) -{ - this->dataPtr->phase = _phase; - this->dataPtr->Recalculate(); -} - -/////////////////////////////////////////////////////////////////////////////// -void Wavefield::SetTau(double _tau) -{ - this->dataPtr->tau = _tau; -} - -/////////////////////////////////////////////////////////////////////////////// -void Wavefield::SetGain(double _gain) -{ - this->dataPtr->gain = _gain; -} - -/////////////////////////////////////////////////////////////////////////////// -void Wavefield::SetDirection(double _direction) -{ - this->dataPtr->direction = _direction; - this->dataPtr->Recalculate(); -} - -/////////////////////////////////////////////////////////////////////////////// -const std::vector<double> &Wavefield::AngularFrequency_V() const -{ - return this->dataPtr->angularFrequencies; -} - -/////////////////////////////////////////////////////////////////////////////// -const std::vector<double> &Wavefield::Amplitude_V() const -{ - return this->dataPtr->amplitudes; -} - -/////////////////////////////////////////////////////////////////////////////// -const std::vector<double> &Wavefield::Phase_V() const -{ - return this->dataPtr->phases; -} - -/////////////////////////////////////////////////////////////////////////////// -const std::vector<double> &Wavefield::Steepness_V() const -{ - return this->dataPtr->steepnesses; -} - -/////////////////////////////////////////////////////////////////////////////// -const std::vector<double> &Wavefield::Wavenumber_V() const -{ - return this->dataPtr->wavenumbers; -} - -/////////////////////////////////////////////////////////////////////////////// -const std::vector<math::Vector2d> &Wavefield::Direction_V() const -{ - return this->dataPtr->directions; -} - -/////////////////////////////////////////////////////////////////////////////// -void Wavefield::DebugPrint() const -{ - gzmsg << "Input Parameters:" << std::endl; - gzmsg << "model: " << this->dataPtr->model << std::endl; - gzmsg << "number: " << this->dataPtr->number << std::endl; - gzmsg << "scale: " << this->dataPtr->scale << std::endl; - gzmsg << "angle: " << this->dataPtr->angle << std::endl; - gzmsg << "steepness: " << this->dataPtr->steepness << std::endl; - gzmsg << "amplitude: " << this->dataPtr->amplitude << std::endl; - gzmsg << "period: " << this->dataPtr->period << std::endl; - gzmsg << "direction: " << this->dataPtr->direction << std::endl; - gzmsg << "tau: " << this->dataPtr->tau << std::endl; - gzmsg << "gain: " << this->dataPtr->gain << std::endl; - gzmsg << "Derived Parameters:" << std::endl; - gzmsg << "amplitudes: " << this->dataPtr->amplitudes << std::endl; - gzmsg << "wavenumbers: " << this->dataPtr->wavenumbers << std::endl; - gzmsg << "omegas: " << this->dataPtr->angularFrequencies << std::endl; - gzmsg << "periods: "; - for (auto&& omega : this->dataPtr->angularFrequencies) // NOLINT - { - gzmsg << 2.0 * M_PI / omega <<", "; - } - gzmsg << std::endl; - gzmsg << "phases: " << this->dataPtr->phases << std::endl; - gzmsg << "steepnesses: " << this->dataPtr->steepnesses << std::endl; - gzmsg << "directions: "; - for (auto&& d : this->dataPtr->directions) // NOLINT - { - gzmsg << d << "; "; - } - gzmsg << std::endl; -} - -/////////////////////////////////////////////////////////////////////////////// -double Wavefield::ComputeDepthSimply(const math::Vector3d &_point, - double _time, double _timeInit) -{ - double h = 0.0; - for (std::size_t i = 0; i < this->Number(); ++i) - { - double k = this->Wavenumber_V()[i]; - double a = this->Amplitude_V()[i]; - double dx = this->Direction_V()[i].X(); - double dy = this->Direction_V()[i].Y(); - double dot = _point.X() * dx + _point.Y() * dy; - double omega = this->AngularFrequency_V()[i]; - double theta = k * dot - omega * _time; - double c = cos(theta); - h += a*c; - } - - // Exponentially grow the waves - return h * (1 - exp(-1.0 * (_time - _timeInit) / this->Tau())); -} - -/////////////////////////////////////////////////////////////////////////////// -double Wavefield::ComputeDepthDirectly(const math::Vector3d &_point, - double _time, double _timeInit) -{ - // Struture for passing wave parameters to lambdas - struct WaveParams - { - WaveParams( - const std::vector<double>& _a, - const std::vector<double>& _k, - const std::vector<double>& _omega, - const std::vector<double>& _phi, - const std::vector<double>& _q, - const std::vector<math::Vector2d>& _dir) : - a(_a), k(_k), omega(_omega), phi(_phi), q(_q), dir(_dir) {} - - const std::vector<double>& a; - const std::vector<double>& k; - const std::vector<double>& omega; - const std::vector<double>& phi; - const std::vector<double>& q; - const std::vector<math::Vector2d>& dir; - }; - - // Compute the target function and Jacobian. Also calculate pz, - // the z-component of the Gerstner wave, which we essentially get for free. - // cppcheck-suppress constParameter - auto wave_fdf = [=](auto x, auto p, auto t, auto &wp, auto &F, auto &J) - { - double pz = 0; - F(0) = p.x() - x.x(); - F(1) = p.y() - x.y(); - J(0, 0) = -1; - J(0, 1) = 0; - J(1, 0) = 0; - J(1, 1) = -1; - const size_t n = wp.a.size(); - for (auto&& i = 0; i < n; ++i) // NOLINT - { - const double dx = wp.dir[i].X(); - const double dy = wp.dir[i].Y(); - const double q = wp.q[i]; - const double a = wp.a[i]; - const double k = wp.k[i]; - const double dot = x.x() * dx + x.y() * dy; - const double theta = k * dot - wp.omega[i] * t; - const double s = std::sin(theta); - const double c = std::cos(theta); - const double qakc = q * a * k * c; - const double df1x = qakc * dx * dx; - const double df1y = qakc * dx * dy; - const double df2x = df1y; - const double df2y = qakc * dy * dy; - pz += a * c; - F(0) += a * dx * s; - F(1) += a * dy * s; - J(0, 0) += df1x; - J(0, 1) += df1y; - J(1, 0) += df2x; - J(1, 1) += df2y; - } - // Exponentially grow the waves - return pz * (1 - exp(-1.0 * (_time - _timeInit) / this->Tau())); - }; - - // Simple multi-variate Newton solver - - // this version returns the z-component of the - // wave field at the desired point p. - // cppcheck-suppress constParameter - auto solver = [=](auto& fdfunc, auto x0, auto p, auto t, \ - auto& wp, auto tol, auto nmax) - { - int n = 0; - double err = 1; - double pz = 0; - auto xn = x0; - Eigen::Vector2d F; - Eigen::Matrix2d J; - while (std::abs(err) > tol && n < nmax) - { - pz = fdfunc(x0, p, t, wp, F, J); - xn = x0 - J.inverse() * F; - x0 = xn; - err = F.norm(); - n++; - } - return pz; - }; - - // Set up parameter references - WaveParams wp( - this->Amplitude_V(), - this->Wavenumber_V(), - this->AngularFrequency_V(), - this->Phase_V(), - this->Steepness_V(), - this->Direction_V()); - - // Tolerances etc. - const double tol = 1.0E-10; - const double nmax = 30; - - // Use the target point as the initial guess - // (this is within sum{amplitudes} of the solution) - Eigen::Vector2d p2(_point.X(), _point.Y()); - const double pz = solver(wave_fdf, p2, p2, _time, wp, tol, nmax); - // Removed so that height is reported relative to mean water level - // const double h = pz - _point.Z(); - const double h = pz; - return h; -} - -/////////////////////////////////////////////////////////////////////////////// -msgs::Param Wavefield::Parameters() const -{ - return this->dataPtr->params; -} diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/Wavefield.hh b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/Wavefield.hh deleted file mode 100644 index f1939e7db7..0000000000 --- a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/src/Wavefield.hh +++ /dev/null @@ -1,336 +0,0 @@ -/* - * Copyright (C) 2019 Rhys Mainwaring - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - * -*/ - -#ifndef MARITIME_WAVEFIELD_HH_ -#define MARITIME_WAVEFIELD_HH_ - -#include <gz/msgs/param.pb.h> - -#include <cstddef> -#include <memory> -#include <string> -#include <vector> - -#include <gz/sim/config.hh> -#include <gz/math/Vector2.hh> -#include <gz/math/Vector3.hh> -#include <gz/utils/ImplPtr.hh> -#include <sdf/sdf.hh> - -namespace maritime -{ - /// \brief A class to generate a wave field. - /// This is a port from https://github.com/srmainwaring/asv_wave_sim - /// with some modifications. - /// - /// It uses SDF to parametrize the waves. - /// - /// ## Modes of operation: The class is designed to operate in two modes: - /// - /// 1. Primary: The plugin reads all the wavefield parameters from SDF. - /// 2. Secondary: The plugin subscribes to a topic and receives the wavefield - /// parameters via a message. - /// - /// Note that the top level plugins using this class are responsible for - /// publishing or subscribing to the wavefield topic. When configured in - /// primary mode, you should use from the top level plugin: - /// - /// Load(const std::shared_ptr<const sdf::Element> &_sdf) - /// - /// and: - /// - /// Parameters() - /// - /// to read the current set of parameters and periodically send the wavefield - /// parameters to other plugins configured in secondary mode. - /// - /// When configured in secondary mode, you should use from the top level - /// plugin: - /// - /// Load(const std::shared_ptr<const sdf::Element> &_sdf) - /// - /// and: - /// - /// Load(const msgs::Param &_msg) - /// - /// to parse the topic and subscribe to the wavefield parameter updates. - /// When the parameters are received, the call to the latter version of Load() - /// will update the wavefield parameters. - /// - /// - /// ## SDF parameters in primary mode: - /// - /// * `<topic>` (string, default: "/wavefield/parameters") - /// The topic for publishing wave field updates. - /// - /// * `<size>` (Vector2D, default: (6000 6000)) - /// A two component vector for the size of the wave field in each direction. - /// - /// * `<cell_count>` (int, default: (300 300)) - /// A two component vector for the number of grid cells in each direction. - /// - /// * `<number>` (int, default: 3) - /// The number of component waves. - /// - /// * `<scale>` (double, default: 1.1) - /// The scale between the mean and largest / smallest component waves. - /// - /// * `<angle>` (double, default: 0.4) - /// The angle between the mean wave direction and the - /// largest / smallest component waves. - /// - /// * `<steepness>` (double, default: 0.0) - /// A parameter in [0, 1] controlling the wave steepness with - /// 1 being steepest. - /// - /// * `<amplitude>` (double, default: 0.0) - /// The amplitude of the mean wave in [m]. This parameter is only used when - /// model is CWR. - /// - /// * `<period>` (double, default: 5.0) - /// The period of the mean wave in [s]. - /// - /// * `<phase>` (double, default: 0.0) - /// The phase of the mean wave. - /// - /// * `<direction>` (double, default: 0.0) - /// An angle defining mean wave direction (theta_m) - /// - /// * `<model>` (string, default: default) - /// The model used to generate component waves. - /// Should be either "PMS" or "CWR" - /// - /// * `<gain>` (double, default: 1.0) - /// For PMS, the multiplier applied to component amplitudes. - /// - /// * `<tau>` (double, default: 2.0) - /// Time constant used to gradually increase wavefield at startup. - /// - /// ## SDF parameters in secondary mode: - /// - /// * `<topic>` (string, default: "/wavefield/parameters") - /// The topic for receiving wave field updates. - /// - /// ## Example (primary mode) - /// <wavefield> - /// <size>1000 1000</size> - /// <cell_count>50 50</cell_count> - /// <wave> - /// <model>PMS</model> - /// <period>5</period> - /// <number>3</number> - /// <scale>1.5</scale> - /// <gain>0.1</gain> - /// <direction>0.0</direction> - /// <angle>0.4</angle> - /// <tau>2.0</tau> - /// <amplitude>0.0</amplitude> - /// <steepness>0.0</steepness> - /// </wave> - /// </wavefield> - /// - /// ## Example (secondary mode) - /// <wavefield> - /// <topic>/gazebo/wavefield/parameters</topic> - /// </wavefield> - class Wavefield - { - /// \brief Constructor. - public: Wavefield(); - - /// \brief Destructor. - public: virtual ~Wavefield(); - - /// \brief Set the parameters from an SDF Element tree. - /// - /// \param[in] _sdf The SDF Element tree containing the wavefield parameters - public: void Load(const std::shared_ptr<const sdf::Element> &_sdf); - - /// \brief Set the parameters from a message. - /// - /// \param[in] _msg The SDF Element tree containing the wavefield parameters - public: void Load(const gz::msgs::Param &_msg); - - /// \brief Is the wavefield loaded. - /// \return True when the wavefield has been loaded or false otherwise. - public: bool Active() const; - - /// \brief The wavefield topic to publish/receive updates. - /// \return The topic name. - public: std::string Topic() const; - - /// \brief The number of wave components (3 max if visualisation required). - public: size_t Number() const; - - /// \brief The angle between the mean wave direction and the - /// largest / smallest component waves. - public: double Angle() const; - - /// \brief The scale between the mean and largest / smallest - /// component waves. - public: double Scale() const; - - /// \brief A parameter in [0, 1] controlling the wave steepness - /// with 1 being steepest. - public: double Steepness() const; - - /// \brief The angular frequency - public: double AngularFrequency() const; - - /// \brief The amplitude of the mean wave in [m]. - public: double Amplitude() const; - - /// \brief The period of the mean wave in [s]. - public: double Period() const; - - /// \brief The phase of the mean wave. - public: double Phase() const; - - /// \brief The mean wavelength. - public: double Wavelength() const; - - /// \brief The mean wavenumber. - public: double Wavenumber() const; - - /// \brief Time-constant for starting waves. - public: float Tau() const; - - /// \brief Amplitude multiplier for PMS. - public: float Gain() const; - - /// \brief A double specifiying the mean wave direction. - public: double Direction() const; - - /// \brief Set the number of wave components (3 max). - /// - /// \param[in] _number The number of component waves. - public: void SetNumber(size_t _number); - - /// \brief Set the angle parameter controlling - /// the direction of the component waves. - /// - /// \param[in] _angle The angle parameter. - public: void SetAngle(double _angle); - - /// \brief Set the scale parameter controlling - /// the range of amplitudes of the component waves. - /// - /// \param[in] _scale The scale parameter. - public: void SetScale(double _scale); - - /// \brief Set the steepness parameter controlling - /// the steepness of the waves. In [0, 1]. - /// - /// \param[in] _steepness The steepness parameter. - public: void SetSteepness(double _steepness); - - /// \brief Set the mean wave amplitude. Must be positive. - /// - /// \param[in] _amplitude The amplitude parameter. - public: void SetAmplitude(double _amplitude); - - /// \brief Set the mean wave period. Must be positive. - /// - /// \param[in] _period The period parameter. - public: void SetPeriod(double _period); - - /// \brief Set the mean wave phase. - /// - /// \param[in] _phase The phase parameter. - public: void SetPhase(double _phase); - - /// \brief Set the time constant. - /// - /// \param[in] _tau The time constant. - public: void SetTau(double _tau); - - /// \brief Set the PMS amplitude multiplier - /// - /// \param[in] _gain The multiplier - public: void SetGain(double _gain); - - /// \brief Set the mean wave direction. - /// - /// \param[in] _direction The direction parameter, a double. - public: void SetDirection(double _direction); - - /// \brief Access the component angular frequencies. - public: const std::vector<double> &AngularFrequency_V() const; - - /// \brief Access the component amplitudes. - public: const std::vector<double> &Amplitude_V() const; - - /// \brief Access the component phases. - public: const std::vector<double> &Phase_V() const; - - /// \brief Access the steepness components. - public: const std::vector<double> &Steepness_V() const; - - /// \brief Access the component wavenumbers. - public: const std::vector<double> &Wavenumber_V() const; - - /// \brief Access the component directions. - public: const std::vector<gz::math::Vector2d> &Direction_V() const; - - /// \brief Print a summary of the wave parameters to the gzmsg stream. - public: void DebugPrint() const; - - /// A simpler version of determining wave height at a point. - /// This method enforces that q (steepness) = 0 which allows us - /// to caculate the wave height exactly for a given 2D point without the - /// need to interatively solve for the position/height. - /// \param[in] _point The point at which we want the depth. - /// \param[in] _time The time at which we want the depth. - /// \param[in] _timeInit The time at which we want the wavefield to start - /// \return The depth 'h' at the point. - public: double ComputeDepthSimply(const gz::math::Vector3d &_point, - double _time, - double _timeInit = 0); - - /// \brief Compute the depth at a point directly - /// (no sampling or interpolation). - /// - /// This method solves for (x, y) that when input into the - /// Gerstner wave function - /// gives the coordinates of the supplied parameter - /// _point (_point.x(), _point.y()), - /// and also computes the wave height pz at this point. - /// The depth h = pz - point.z(). - /// This is a numerical method that uses a multi-variate - /// Newton solver to solve - /// the two dimensional non-linear system. In general it is not as fast as - /// sampling from a discretised wave field with an efficient - /// line intersection algorithm. - /// - /// \param[in] _point The point at which we want the depth. - /// \param[in] _time The time at which we want the depth. - /// \param[in] _timeInit The time at which we want the wavefield to start - /// \return The depth 'h' at the point. - public: double ComputeDepthDirectly(const gz::math::Vector3d &_point, - double _time, - double _timeInit = 0); - - /// \brief Get all the parameters in a single message. - /// \return A message with all the parameters. - public: gz::msgs::Param Parameters() const; - - /// \brief Private data pointer. - GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr) - }; -} - -#endif diff --git a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/worlds/sydney_regatta.sdf b/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/worlds/sydney_regatta.sdf deleted file mode 100644 index c25ec3a820..0000000000 --- a/tutorials/files/surface_vehicles/gazebo_maritime_ws/src/gazebo_maritime/worlds/sydney_regatta.sdf +++ /dev/null @@ -1,434 +0,0 @@ -<?xml version="1.0" ?> - -<sdf version="1.9"> - <world name="sydney_regatta"> - - <physics name="4ms" type="dart"> - <max_step_size>0.004</max_step_size> - <real_time_factor>1.0</real_time_factor> - </physics> - - <gui fullscreen="0"> - - <!-- 3D scene --> - <plugin filename="MinimalScene" name="3D View"> - <gz-gui> - <title>3D View - false - docked - - - ogre2 - scene - 0.4 0.4 0.4 - 0.8 0.8 0.8 - -478.1 148.2 13.2 0 0.25 2.94 - - 0.25 - 10000 - - - - - - - floating - 5 - 5 - false - - - - - false - 5 - 5 - floating - false - - - - - false - 5 - 5 - floating - false - - - - - false - 5 - 5 - floating - false - - - - - false - 5 - 5 - floating - false - - - - - - - - - false - 5 - 5 - floating - false - - - - - false - 5 - 5 - floating - false - - - - - - - - - - false - 5 - 5 - floating - false - - - - - - - World control - false - false - 72 - 121 - 1 - - floating - - - - - - - true - true - true - true - - - - - - - World stats - false - false - 110 - 290 - 1 - - floating - - - - - - - true - true - true - true - - - - - - false - 0 - 0 - 250 - 50 - floating - false - #666666 - - - - - - - false - 250 - 0 - 150 - 50 - floating - false - #666666 - - - - - - - false - 0 - 50 - 250 - 50 - floating - false - #777777 - - - - false - - - - - - false - 250 - 50 - 50 - 50 - floating - false - #777777 - - - - - - - false - 300 - 50 - 50 - 50 - floating - false - #777777 - - - - true - true - 4000000 - - - - false - - - - - - docked_collapsed - - - - - - - docked_collapsed - - - - - - - docked_collapsed - - - - false - - - - - - - - - - ogre2 - true - - - - - - - - - - - - - - - - - false - 1.0 1.0 1.0 - 0.8 0.8 0.8 - - - - - EARTH_WGS84 - ENU - -33.724223 - 150.679736 - 0.0 - 0.0 - - - - true - 0 0 10 0 0 0 - 0.8 0.8 0.8 1 - 0.2 0.2 0.2 1 - - 1000 - 0.9 - 0.01 - 0.001 - - -0.5 0.1 -0.9 - - - - 0 0 0.2 0 0 0 - https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta - - - - Coast Waves - 0 0 0 0 0 0 - coast_waves - - - - - post_0 - -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286 - https://fuel.gazebosim.org/1.0/openrobotics/models/post - - - post_1 - -527.48999 153.854782 0.425844 -0.1365 0 0 - https://fuel.gazebosim.org/1.0/openrobotics/models/post - - - post_2 - -544.832825 156.671951 0.499025 -0.162625 0 0 - https://fuel.gazebosim.org/1.0/openrobotics/models/post - - - - - -531.063721 147.668579 1.59471 -0.068142 0 -0.1 - https://fuel.gazebosim.org/1.0/openrobotics/models/antenna - - - - - ground_station_0 - -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726 - https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station - - - ground_station_1 - -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571 - https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station - - - ground_station_2 - -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492 - https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station - - - - - - params { - key: "direction" - value { - type: DOUBLE - double_value: 0.0 - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.3 - } - } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } - - - - - - - - diff --git a/tutorials/files/surface_vehicles/gz_maritime_ws.zip b/tutorials/files/surface_vehicles/gz_maritime_ws.zip new file mode 100644 index 0000000000..faa96635e9 Binary files /dev/null and b/tutorials/files/surface_vehicles/gz_maritime_ws.zip differ diff --git a/tutorials/lander.md b/tutorials/lander.md index d2243af07b..ecff012177 100644 --- a/tutorials/lander.md +++ b/tutorials/lander.md @@ -37,7 +37,7 @@ mkdir -p ~/gazebo_maritime/models/my_lander && cd ~/gazebo_maritime/models/my_la Download the `model.config` file and copy it within that directory: ```bash -wget https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/lander/model.config -o ~/gazebo_maritime/models/my_lander/model.config +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/lander/model.config -O ~/gazebo_maritime/models/my_lander/model.config ``` In its simple version, the lander does not have any moving pieces, so the SDF @@ -95,7 +95,7 @@ Let's now add nicer-looking visuals to our lander. Download the following ```bash mkdir ~/gazebo_maritime/models/my_lander/meshes -wget https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/lander/inkfish-lander.dae -o ~/gazebo_maritime/models/my_lander/meshes/inkfish-lander.dae +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/lander/inkfish-lander.dae -O ~/gazebo_maritime/models/my_lander/meshes/inkfish-lander.dae ``` Replace the `chassis_visual` element in your `model.sdf` with the following @@ -153,7 +153,7 @@ Let's start with the world. Download the following world: ```bash mkdir -p ~/gazebo_maritime/worlds -wget https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/lander/buoyant_lander.sdf -o ~/gazebo_maritime/worlds/buoyant_lander.sdf +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/lander/buoyant_lander.sdf -O ~/gazebo_maritime/worlds/buoyant_lander.sdf export GZ_SIM_RESOURCE_PATH=:$HOME/gazebo_maritime/models ``` diff --git a/tutorials/surface_vehicles.md b/tutorials/surface_vehicles.md index 056407401a..812edf98ba 100644 --- a/tutorials/surface_vehicles.md +++ b/tutorials/surface_vehicles.md @@ -28,8 +28,8 @@ To compile all the custom libraries in the right order `colcon` is recommended. The `colcon` tool is available on all platforms using `pip3`. ```bash -mkdir ~/gazebo_maritime_ws -wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/surface_vehicles/gazebo_maritime_ws -o ~/gazebo_maritime_ws -r +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/surface_vehicles/gz_maritime_ws.zip -O ~/gz_maritime_ws.zip +unzip ~/gz_maritime_ws.zip ``` ## Generic tools diff --git a/tutorials/theory_hydrodynamics.md b/tutorials/theory_hydrodynamics.md index 2b667b0a7d..7f2c7cd5a5 100644 --- a/tutorials/theory_hydrodynamics.md +++ b/tutorials/theory_hydrodynamics.md @@ -88,7 +88,7 @@ in the positive `X` direction. ```bash mkdir -p ~/gazebo_maritime/worlds -wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/theory_hydrodynamics/buoyant_cylinder.sdf -o ~/gazebo_maritime/worlds/buoyant_cylinder.sdf +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/theory_hydrodynamics/buoyant_cylinder.sdf -O ~/gazebo_maritime/worlds/buoyant_cylinder.sdf gz sim -r ~/gazebo_maritime/worlds/buoyant_cylinder.sdf ``` diff --git a/tutorials/underwater_vehicles.md b/tutorials/underwater_vehicles.md index 7e2eec0dc3..86d76ba995 100644 --- a/tutorials/underwater_vehicles.md +++ b/tutorials/underwater_vehicles.md @@ -31,14 +31,22 @@ underwater vehicle. Create a workspace to store your brand new model named `my_lrauv`. ```bash -mkdir -p ~/gazebo_maritime/models/my_lrauv && cd ~/gazebo_maritime/models/my_lrauv +mkdir -p ~/gazebo_maritime/models/my_lrauv/materials/textures +mkdir -p ~/gazebo_maritime/models/my_lrauv/meshes ``` Download all the files from here and copy them within that directory: ```bash -wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicle/my_lrauv -o ~/gazebo_maritime/models/my_lrauv - +wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/my_lrauv/model.config -O ~/gazebo_maritime/models/my_lrauv/model.config +wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/my_lrauv/model.sdf -O ~/gazebo_maritime/models/my_lrauv/model.sdf +wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/my_lrauv/materials/textures/Tethys_Albedo.png -O ~/gazebo_maritime/models/my_lrauv/materials/textures/Tethys_Albedo.png +wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/my_lrauv/materials/textures/Tethys_Metalness.png -O ~/gazebo_maritime/models/my_lrauv/materials/textures/Tethys_Metalness.png +wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/my_lrauv/materials/textures/Tethys_Normal.png -O ~/gazebo_maritime/models/my_lrauv/materials/textures/Tethys_Normal.png +wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/my_lrauv/materials/textures/Tethys_Roughness.png -O ~/gazebo_maritime/models/my_lrauv/materials/textures/Tethys_Roughness.png +wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/my_lrauv/meshes/base.dae -O ~/gazebo_maritime/models/my_lrauv/meshes/base.dae +wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/my_lrauv/meshes/propeller.dae -O ~/gazebo_maritime/models/my_lrauv/meshes/propeller.dae +wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/my_lrauv/meshes/tethys.dae -O ~/gazebo_maritime/models/my_lrauv/meshes/tethys.dae ``` Open with your favorite editor `~/gazebo_maritime/models/my_lrauv/model.sdf`. @@ -103,7 +111,7 @@ Let's now download the following world that includes the buoyancy plugin: ```bash mkdir -p ~/gazebo_maritime/worlds -wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicle/buoyant_lrauv.sdf -o ~/gazebo_maritime/worlds +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/buoyant_lrauv.sdf -O ~/gazebo_maritime/worlds/buoyant_lrauv.sdf export GZ_SIM_RESOURCE_PATH=:$HOME/gazebo_maritime/models ```