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Add water-mass tracking support for DVL #241

Merged
merged 5 commits into from
Sep 14, 2022
Merged

Add water-mass tracking support for DVL #241

merged 5 commits into from
Sep 14, 2022

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hidmic
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@hidmic hidmic commented Aug 24, 2022

Precisely what the title says.

@hidmic hidmic self-assigned this Aug 24, 2022
@hidmic hidmic force-pushed the hidmic/water-mass-tracking-dvl branch from f31fffa to d465fe1 Compare August 29, 2022 10:49
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hidmic commented Aug 29, 2022

@caguero @arjo129 Alright, I mostly managed to stabilize this code, not without some more changes to gazebosim/gz-sim#1616. Alas, bottom tracking doesn't fully work anymore. Not in this branch, nor in main.

I'm still investigating, but it seems that the GPU lidar sensor won't see DEM textures. Possibly a regression in gz-rendering, I suspect gazebosim/gz-rendering#553 but it's just a hunch. I'll keep digging.

@hidmic hidmic force-pushed the hidmic/water-mass-tracking-dvl branch from d465fe1 to 88b7948 Compare August 31, 2022 13:53
@hidmic hidmic marked this pull request as ready for review August 31, 2022 13:53
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hidmic commented Aug 31, 2022

Alas, bottom tracking doesn't fully work anymore. Not in this branch, nor in main.

Alright, Ian was right about visibility masks in gazebosim/gz-rendering#712. Bottom tracking is functional again. Water-mass tracking also appears to be working as intended, though I haven't added integration tests yet.

@hidmic hidmic force-pushed the hidmic/water-mass-tracking-dvl branch from 88b7948 to 7bc8f87 Compare September 2, 2022 20:57
arjo129
arjo129 reviewed Sep 9, 2022
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lrauv_system_tests/worlds/flat_seabed.sdf
@@ -23,6 +23,14 @@
filename="ignition-gazebo-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
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Knit: We don't need this for unit tests as the user does not need to visualize the scene.

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Agreed. At the same time, it's super handy to be able to just do gz sim on a test world when a test is failing. Maybe we can comment it out? WDYT?

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arjo129 approved these changes Sep 9, 2022
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Looks like a very solid bottom tracking DVL implementation,

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hidmic commented Sep 12, 2022

@arjo129 see 6ed9281.

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hidmic commented Sep 14, 2022

@arjo129 PTAL, had to merge main after #234 went in.

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hidmic commented Sep 14, 2022

Gong in now. I'll fix CI in #248.

@hidmic hidmic merged commit 5b9f886 into main Sep 14, 2022
@hidmic hidmic deleted the hidmic/water-mass-tracking-dvl branch September 14, 2022 16:19
@hidmic hidmic mentioned this pull request Oct 26, 2022
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@adityapande-1995 adityapande-1995 adityapande-1995 approved these changes

@arjo129 arjo129 arjo129 approved these changes

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@hidmic @arjo129 @adityapande-1995