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| Original file line number | Diff line number | Diff line change |
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| name: Validate package.xml | ||
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| on: | ||
| pull_request: | ||
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| jobs: | ||
| package-xml: | ||
| runs-on: ubuntu-latest | ||
| name: Validate package.xml | ||
| steps: | ||
| - uses: gazebo-tooling/action-gz-ci/validate_package_xml@jammy |
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| Original file line number | Diff line number | Diff line change |
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| <?xml version="1.0" ?> | ||
| <!-- | ||
| Example showing the usage of the Doppler Velocity Log (DVL) sensor | ||
| on an Autonomous Underwater Vehicle (AUV). | ||
| The world contains the MBARI Tethys LRAUV model along with | ||
| the following plugins: | ||
| * Buoyancy: applies buoyancy forces | ||
| * DopplerVelocityLogSystem: sensor to measure doppler velocity | ||
| * JointPositionController: controls the vertical and horizontal fins | ||
| * LiftDrag: generates forces on the vertical and horizontal fins | ||
| * Thruster: propels the vehicle | ||
| * Hydrodynamics: applies forces such as added mass, drag and coriolis | ||
| The AUV can be controlled using the following commands (to move in a circle): | ||
| 1. Move the rudder: | ||
| gz topic -t /model/tethys/joint/vertical_fins_joint/0/cmd_pos \ | ||
| -m gz.msgs.Double -p 'data: -0.17' | ||
| 2. Propel the vehicle: | ||
| gz topic -t /model/tethys/joint/propeller_joint/cmd_thrust \ | ||
| -m gz.msgs.Double -p 'data: -31' | ||
| To see the DVL output run the following command: | ||
| 3. gz topic -t /dvl/velocity -e | ||
| --> | ||
| <sdf version="1.6"> | ||
| <world name="dvl_world"> | ||
| <scene> | ||
| <!-- For turquoise ambient to match particle effect --> | ||
| <ambient>0.0 1.0 1.0</ambient> | ||
| <!-- For default gray ambient --> | ||
| <background>0.0 0.7 0.8</background> | ||
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| <grid>false</grid> | ||
| </scene> | ||
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| <physics name="1ms" type="ode"> | ||
| <max_step_size>0.001</max_step_size> | ||
| <real_time_factor>1.0</real_time_factor> | ||
| </physics> | ||
| <plugin | ||
| filename="gz-sim-physics-system" | ||
| name="gz::sim::systems::Physics"> | ||
| </plugin> | ||
| <plugin | ||
| filename="gz-sim-sensors-system" | ||
| name="gz::sim::systems::Sensors"> | ||
| </plugin> | ||
| <plugin | ||
| filename="gz-sim-dvl-system" | ||
| name="gz::sim::systems::DopplerVelocityLogSystem"> | ||
| </plugin> | ||
| <plugin | ||
| filename="gz-sim-buoyancy-system" | ||
| name="gz::sim::systems::Buoyancy"> | ||
| <uniform_fluid_density>1000</uniform_fluid_density> | ||
| </plugin> | ||
| <plugin | ||
| filename="gz-sim-scene-broadcaster-system" | ||
| name="gz::sim::systems::SceneBroadcaster"> | ||
| </plugin> | ||
| <plugin | ||
| filename="gz-sim-contact-system" | ||
| name="gz::sim::systems::Contact"> | ||
| </plugin> | ||
| <plugin | ||
| filename="gz-sim-user-commands-system" | ||
| name="gz::sim::systems::UserCommands"> | ||
| </plugin> | ||
|
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| <light type="directional" name="sun"> | ||
| <cast_shadows>true</cast_shadows> | ||
| <pose>0 0 10 0 0 0</pose> | ||
| <diffuse>1 1 1 1</diffuse> | ||
| <specular>0.5 0.5 0.5 1</specular> | ||
| <attenuation> | ||
| <range>1000</range> | ||
| <constant>0.9</constant> | ||
| <linear>0.01</linear> | ||
| <quadratic>0.001</quadratic> | ||
| </attenuation> | ||
| <direction>-0.5 0.1 -0.9</direction> | ||
| </light> | ||
|
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||
| <!-- This invisible plane helps with orbiting the camera, especially at large scales --> | ||
| <model name="horizontal_plane"> | ||
| <static>true</static> | ||
| <link name="link"> | ||
| <visual name="visual"> | ||
| <geometry> | ||
| <plane> | ||
| <normal>0 0 1</normal> | ||
| <!-- 300 km x 300 km --> | ||
| <size>300000 300000</size> | ||
| </plane> | ||
| </geometry> | ||
| <transparency>1.0</transparency> | ||
| </visual> | ||
| </link> | ||
| </model> | ||
|
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| <model name="sea_bottom"> | ||
| <static>true</static> | ||
| <pose>0 0 -100 0 0 0</pose> | ||
| <link name="link"> | ||
| <collision name="collision"> | ||
| <geometry> | ||
| <plane> | ||
| <normal>0 0 1</normal> | ||
| <!-- 300 km x 300 km --> | ||
| <size>300000 300000</size> | ||
| </plane> | ||
| </geometry> | ||
| </collision> | ||
| <visual name="visual"> | ||
| <material> | ||
| <ambient>0.5 0.5 0.5</ambient> | ||
| <diffuse>0.5 0.5 0.5</diffuse> | ||
| </material> | ||
| <geometry> | ||
| <plane> | ||
| <normal>0 0 1</normal> | ||
| <!-- 300 km x 300 km --> | ||
| <size>300000 300000</size> | ||
| </plane> | ||
| </geometry> | ||
| </visual> | ||
| </link> | ||
| </model> | ||
|
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| <include> | ||
| <pose>0 0 -80 0 0 1.57</pose> | ||
| <uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri> | ||
|
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| <experimental:params> | ||
| <sensor | ||
| element_id="base_link" action="add" | ||
| name="teledyne_pathfinder_dvl" | ||
| type="custom" gz:type="dvl"> | ||
| <pose degrees="true">-0.60 0 -0.16 0 0 180</pose> | ||
| <always_on>1</always_on> | ||
| <update_rate>1</update_rate> | ||
| <topic>/dvl/velocity</topic> | ||
| <gz:dvl> | ||
| <type>phased_array</type> | ||
| <arrangement degrees="true"> | ||
| <beam id="1"> | ||
| <aperture>2</aperture> | ||
| <rotation>45</rotation> | ||
| <tilt>30</tilt> | ||
| </beam> | ||
| <beam> | ||
| <aperture>2</aperture> | ||
| <rotation>135</rotation> | ||
| <tilt>30</tilt> | ||
| </beam> | ||
| <beam> | ||
| <aperture>2</aperture> | ||
| <rotation>-45</rotation> | ||
| <tilt>30</tilt> | ||
| </beam> | ||
| <beam> | ||
| <aperture>2</aperture> | ||
| <rotation>-135</rotation> | ||
| <tilt>30</tilt> | ||
| </beam> | ||
| </arrangement> | ||
| <tracking> | ||
| <bottom_mode> | ||
| <when>best</when> | ||
| <noise type="gaussian"> | ||
| <!-- +/- 0.4 cm/s precision at 10 m/s within 2 stddevs --> | ||
| <stddev>0.002</stddev> | ||
| </noise> | ||
| <visualize>false</visualize> | ||
| </bottom_mode> | ||
| </tracking> | ||
| <!-- Roughly 1 m resolution at a 100m --> | ||
| <resolution>0.01</resolution> | ||
| <maximum_range>100.</maximum_range> | ||
| <minimum_range>0.1</minimum_range> | ||
| <!-- ENU to SFM --> | ||
| <reference_frame>0 0 0 0 0 -1.570796</reference_frame> | ||
| </gz:dvl> | ||
| </sensor> | ||
| </experimental:params> | ||
|
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||
| <!-- Odometry publisher --> | ||
| <plugin | ||
| filename="gz-sim-odometry-publisher-system" | ||
| name="gz::sim::systems::OdometryPublisher"> | ||
| </plugin> | ||
|
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||
| <!-- Joint controllers --> | ||
| <plugin | ||
| filename="gz-sim-joint-position-controller-system" | ||
| name="gz::sim::systems::JointPositionController"> | ||
| <joint_name>horizontal_fins_joint</joint_name> | ||
| <p_gain>0.1</p_gain> | ||
| </plugin> | ||
|
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| <plugin | ||
| filename="gz-sim-joint-position-controller-system" | ||
| name="gz::sim::systems::JointPositionController"> | ||
| <joint_name>vertical_fins_joint</joint_name> | ||
| <p_gain>0.1</p_gain> | ||
| </plugin> | ||
|
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| <plugin | ||
| filename="gz-sim-thruster-system" | ||
| name="gz::sim::systems::Thruster"> | ||
| <namespace>tethys</namespace> | ||
| <use_angvel_cmd>0</use_angvel_cmd> | ||
| <joint_name>propeller_joint</joint_name> | ||
| <thrust_coefficient>0.004422</thrust_coefficient> | ||
| <fluid_density>1000</fluid_density> | ||
| <propeller_diameter>0.2</propeller_diameter> | ||
| </plugin> | ||
|
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||
| <!-- Lift and drag --> | ||
|
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| <!-- Vertical fin --> | ||
| <plugin | ||
| filename="gz-sim-lift-drag-system" | ||
| name="gz::sim::systems::LiftDrag"> | ||
| <air_density>1000</air_density> | ||
| <cla>4.13</cla> | ||
| <cla_stall>-1.1</cla_stall> | ||
| <cda>0.2</cda> | ||
| <cda_stall>0.03</cda_stall> | ||
| <alpha_stall>0.17</alpha_stall> | ||
| <a0>0</a0> | ||
| <area>0.0244</area> | ||
| <upward>0 1 0</upward> | ||
| <forward>1 0 0</forward> | ||
| <link_name>vertical_fins</link_name> | ||
| <cp>0 0 0</cp> | ||
| </plugin> | ||
|
|
||
| <!-- Horizontal fin --> | ||
| <plugin | ||
| filename="gz-sim-lift-drag-system" | ||
| name="gz::sim::systems::LiftDrag"> | ||
| <air_density>1000</air_density> | ||
| <cla>4.13</cla> | ||
| <cla_stall>-1.1</cla_stall> | ||
| <cda>0.2</cda> | ||
| <cda_stall>0.03</cda_stall> | ||
| <alpha_stall>0.17</alpha_stall> | ||
| <a0>0</a0> | ||
| <area>0.0244</area> | ||
| <upward>0 0 1</upward> | ||
| <forward>1 0 0</forward> | ||
| <link_name>horizontal_fins</link_name> | ||
| <cp>0 0 0</cp> | ||
| </plugin> | ||
|
|
||
| <!-- Hydrodynamics plugin--> | ||
| <plugin | ||
| filename="gz-sim-hydrodynamics-system" | ||
| name="gz::sim::systems::Hydrodynamics"> | ||
| <link_name>base_link</link_name> | ||
| <xDotU>-4.876161</xDotU> | ||
| <yDotV>-126.324739</yDotV> | ||
| <zDotW>-126.324739</zDotW> | ||
| <kDotP>0</kDotP> | ||
| <mDotQ>-33.46</mDotQ> | ||
| <nDotR>-33.46</nDotR> | ||
| <xUabsU>-6.2282</xUabsU> | ||
| <xU>0</xU> | ||
| <yVabsV>-601.27</yVabsV> | ||
| <yV>0</yV> | ||
| <zWabsW>-601.27</zWabsW> | ||
| <zW>0</zW> | ||
| <kPabsP>-0.1916</kPabsP> | ||
| <kP>0</kP> | ||
| <mQabsQ>-632.698957</mQabsQ> | ||
| <mQ>0</mQ> | ||
| <nRabsR>-632.698957</nRabsR> | ||
| <nR>0</nR> | ||
| </plugin> | ||
| </include> | ||
| </world> | ||
| </sdf> |
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