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Added example world for DopplerVelocityLogSystem #2373

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merged 6 commits into from
Apr 18, 2024
Merged

Added example world for DopplerVelocityLogSystem #2373

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940cdc3
Added dvl-system example world
sauk2 Apr 17, 2024
a8e8abc
Added README to prevent running integration tests as examples
sauk2 Apr 17, 2024
2bb5394
Removed extra line at the end
sauk2 Apr 17, 2024
4d06d68
Added LRAUV control with instructions
sauk2 Apr 18, 2024
95207e2
Renamed from flat_seabed to dvl_world
sauk2 Apr 18, 2024
617c465
Fixed world name inside dvl_world
sauk2 Apr 18, 2024
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161 changes: 161 additions & 0 deletions examples/worlds/flat_seabed.sdf
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<?xml version="1.0" ?>
<!--
Development of this module has been funded by the Monterey Bay Aquarium
Research Institute (MBARI) and the David and Lucile Packard Foundation
-->
<sdf version="1.6">
<world name="flat_seabed">
<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>

<grid>false</grid>
</scene>

<physics name="1ms" type="dart">
<max_step_size>0.02</max_step_size>
<real_time_factor>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>

<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>

<!-- 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>

<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>

<include>
<pose>0 0 -80 0 0 1.57</pose>
<uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>

<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>
</include>
</world>
</sdf>
9 changes: 9 additions & 0 deletions test/worlds/README.md
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# Integration Testing Files

## Purpose

This folder contains world files specifically designed for purpose of integration testing of system plugins. **They are strictly for testing and not meant to be run as examples.**

## Running system plugin examples

The world files are present in the `examples/worlds` directory of this repository.
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