Linear potential wave-body model demo (#70)

* Wave Body: Add linear potential wave-body model Ellipsoid Buoy: add model for an ellipsoid buoy - Add test model for hydrodynamics models. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add plugin for testing linear wave-body interaction models - Initial version of plugin with hydrostatic restoring forces. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: update linear wave-body interaction model - add contributions to moments from hydrostatic equilibrium term (centre of buoyancy). Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: update linear wave-body interaction model - update comments and disable debug output Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: update models for testing linear wave-body interaction model - set wave amplitudes to zero and compare the two hydrostatic models Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add hydro data file and load into plugin - Add BEM hydro data .hdf5 file for ellipsoid (generated by capytaine / bemio) - Add dependency on Eigen. HDF5 and HighFive to read data file (HighFive should be cloned into to workspace) Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: use loaded hydro data in calculations - Store loaded hydro data in a struct and replace hardcoded data. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: use loaded hydro data in calculations - Clean up. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: load remaining hydro data - Complete loading of all hydro data (except for state space model data) - Load routines can be factored out and consolidated (2nd pass) Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: split update into contributions by force type - Split out hydrostatic force calculation. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add parameter for hydro data file - Add parameter <hydrodata> for specifying HDF5 file. - Move model specific config under model folder. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: document the hydrostatics calculation Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: use waterplane origin as reference point for displacements Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add radiation damping test case - Update variable labelling for pose and vectors - Add radiation damping test case example (hardcoded) Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add parameters to control which forces are calculated - Add flags to control which force contributions are included - Format hdf5 file reader - Make hydrostatics forces switchable Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add force control parameters to ellipsoid example Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: initial version of radiation added mass force - Reorganise code to enable switching forces on / off - Outline added mass calculation Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: updated version of radiation added mass force - Investigate a couple of methods - both approaches to capture acceleration in the force contribution are unstable. - Alternative methods is to use the SetFluidAddedMass method of the inertial. - This can be set on the component attached to the link entity in the plugin config, and this appears to propagate to the physics engine. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: replace hardcoded added mass override with parameters - Allow the added mass and radiation damping to be set in parameters - Remove added mass calculation from update and set inertial in config - Add example parameters to demo world Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: replace hardcoded radiation damping override with parameters - Allow the radiation damping to be set in parameters Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: - Add aliases for Vector6d and Matrix6d - Add gravity calculation to use instead of global physics engine gravity when enabling added mass - Update added mass calculation to use gazebosim/gz-physics#384 Signed-off-by: Rhys Mainwaring <[email protected]> Fluid added mass: update added mass example - Clean and symmetrise matrix Signed-off-by: Rhys Mainwaring <[email protected]> Fluid added mass: add code to symmetrise added mass (disabled) Signed-off-by: Rhys Mainwaring <[email protected]> Fluid added mass: add flags for additional debug info Signed-off-by: Rhys Mainwaring <[email protected]> Fluid added mass: cleanup Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: add parameters for constant coefficient overrides - Add parameters for storing wave excitation force coefficients - Add template specialisation to read Eigen::Vector6d - Add example data to sdf model - Remove stale code for added mass adjustments from class declaration Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: implement excitation force for regular waves - Add overrides for wave period, height and phase - Update documentation describing added mass calculation - Implement constant coefficient excitation calculation for regular waves - Update wave model to used trochoids with steepness = 0 (direction not implemented for sinusoids) - Rename elements for wave excitation force components Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: correct buoyancy moment calculation - Correct the buoyancy moment calculation for larger displacements. - Add missing parameter read for the flag to enable / disable the excitation force Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: implement excitation Froude-Krylov and scattering force components - Add example coefficients for excitation Froude-Krylove and scattering components. - Read parameters in Config. - Implement force calculations for new components. - Initialise vectors and matrices to zero. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: rename variables using Kane/monogram notation - Rename pose, vectors using Kane/monogram notation described in the Drake docs. - Fix gravity calculation. - Factor out common link state updates. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: update example model and add notes Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: add force publishers - Publish force and torque if enabled - Add parameters to enable force publishing - Update launch script to enable ROS bridge for forces Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: configure buoy example to use all forces - Set initial position to origin for linear potential model example - Update document with references Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: refactor flags and publishers - Group flags into structs to reduce clutter. - Move debug flags into their own SDF element. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: refactor hydro coefficient overrides - Group coefficients into structs to reduce clutter. - Reorganise hydro coefficient elements in SDF. - Move waves and sim environment params into separate structs. - Add override for hydrostatic linear restoring. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: add geometry overrides - Add section for geometry overrides. - Rename the initial pose the body waterplane. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body Tests: add wave models for test cases - Add regular wave models with different periods and amplitudes. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: fix geometry overrides - Fix issue with parsing SDF and ensure SDF example valid. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: use waves test model Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: revert waves.sdf to original - Move ellipsoid test to new world file. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: add world for ellipsoid test case Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body Tests: add spheroid test case - Add spheroid for added mass Test1a Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body Tests: update spheroid test case - Add ROS launch file for tests. - Update BEM coeffs from WEC-Sim example Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 1 - Rename hydro coefficient class. - Handle override for hydrostatic restoring. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 2 - Move HDF5 reader to separate function. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: fix error in torque calculation - Fix indexing error in torque lookup. - Shorten spatial force names. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body Hydrostatics: update treatment of CoB offset from CoM - Use the initial offset of the CoB from CoM in updates - tricky as CoB is dynamic but linear model appears to rely on this being at initial position. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 3 - Refactor duplicated code in array read functions. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 4 - Refactor SDF element names. - Change <hydrodata> to <hdf5_file> as the element is a file name. - Move <waves> up a level. - Change <environment> to <simulation_parameters> - Shorten <force_publishers> to <publishers> Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 5 - Add notes on model and WEC-Sim data structures and modelling. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 6 - Name refactoring - preparation for introducing new structs for data that will be used in updates. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 7 - Add improved handling of overrides. - Remove all override decision making from update loops. - Add separate data structure to contain the hydro force coefficients used in the update loop. - Document the load and override policy. Signed-off-by: Rhys Mainwaring <[email protected]> * ROS: add a project to publish gazebo messages to ros2 Signed-off-by: Rhys Mainwaring <[email protected]> ROS: add node to publish body response labelled using maritime conventions - Add body_response_publisher - Update launch file Signed-off-by: Rhys Mainwaring <[email protected]> ROS: update README Signed-off-by: Rhys Mainwaring <[email protected]> ROS: correct topic name for excitation force Signed-off-by: Rhys Mainwaring <[email protected]> Signed-off-by: Rhys Mainwaring <[email protected]>
srmainwaring · Dec 8, 2022 · 0ed9437 · 0ed9437
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diff --git a/gz-waves-models/world_models/regular_waves/model.sdf b/gz-waves-models/world_models/regular_waves/model.sdf
@@ -8,6 +8,8 @@
       <static>0</static>
       <update_rate>30</update_rate>
       <wave>
+        <!-- <algorithm>trochoid</algorithm>
+        <steepness>0</steepness> -->
         <algorithm>sinusoid</algorithm>
         <number>1</number>
         <amplitude>2.0</amplitude>
@@ -44,6 +46,8 @@
           <tiles_x>0 0</tiles_x>
           <tiles_y>0 0</tiles_y>
           <wave>
+            <!-- <algorithm>trochoid</algorithm>
+            <steepness>0</steepness> -->
             <algorithm>sinusoid</algorithm>
             <number>1</number>
             <amplitude>2.0</amplitude>

diff --git a/gz-waves-models/world_models/regular_waves_6s_0m/model.config b/gz-waves-models/world_models/regular_waves_6s_0m/model.config
@@ -0,0 +1,19 @@
+
+<?xml version='1.0'?>
+<model>
+  <name>Regular Waves 6s 0m</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Rhys Mainwaring</name>
+    <email>[email protected]</email>
+  </author>
+
+  <description>
+    Monochromatic surface waves T=6s, A=0m.
+    This model uses the materials from the `waves`
+    model to prevent duplicating the large mesh files.
+  </description>
+</model>
+
diff --git a/gz-waves-models/world_models/regular_waves_6s_0m/model.sdf b/gz-waves-models/world_models/regular_waves_6s_0m/model.sdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' ?>
+<sdf version="1.6">
+  <model name="regular_waves_6s_0m">
+    <static>true</static>
+    <plugin
+        filename="gz-waves1-waves-model-system"
+        name="gz::sim::systems::WavesModel">
+      <static>0</static>
+      <update_rate>30</update_rate>
+      <wave>
+        <algorithm>sinusoid</algorithm>
+        <number>1</number>
+        <amplitude>0.0</amplitude>
+        <period>6.0</period>
+        <direction>1 0</direction>
+      </wave>
+    </plugin>
+    <link name="base_link">
+      <visual name="visual">
+        <geometry>
+          <mesh>
+            <uri>models://waves/materials/mesh_L256m_N256.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.0 0.05 0.8 0.92</ambient>
+          <diffuse>0.0 0.1 0.7 0.92</diffuse>
+          <specular>0.7 0.7 0.7 0.92</specular>
+          <pbr>
+            <metal>
+              <albedo_map>models://waves/materials/water.jpg</albedo_map>
+              <normal_map>models://waves/materials/wave_normals.dds</normal_map>
+              <environment_map>models://waves/materials/skybox_lowres.dds</environment_map>
+              <roughness>0.3</roughness>
+              <metalness>0.1</metalness>
+            </metal>
+          </pbr>
+        </material>
+        <plugin
+            filename="gz-waves1-waves-visual-system"
+            name="gz::sim::systems::WavesVisual">
+          <static>0</static>
+          <mesh_deformation_method>DYNAMIC_GEOMETRY</mesh_deformation_method>
+          <tiles_x>0 0</tiles_x>
+          <tiles_y>0 0</tiles_y>
+          <wave>
+            <algorithm>sinusoid</algorithm>
+            <number>1</number>
+            <amplitude>0.0</amplitude>
+            <period>6.0</period>
+            <direction>1 0</direction>
+          </wave>
+          <shader language="metal">
+            <vertex>models://waves/materials/waves_vs.metal</vertex>
+            <fragment>models://waves/materials/waves_fs.metal</fragment>
+          </shader>
+        </plugin>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/gz-waves-models/world_models/regular_waves_6s_1m/model.config b/gz-waves-models/world_models/regular_waves_6s_1m/model.config
@@ -0,0 +1,19 @@
+
+<?xml version='1.0'?>
+<model>
+  <name>Regular Waves 6s 1m</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Rhys Mainwaring</name>
+    <email>[email protected]</email>
+  </author>
+
+  <description>
+    Monochromatic surface waves T=6s, A=1m.
+    This model uses the materials from the `waves`
+    model to prevent duplicating the large mesh files.
+  </description>
+</model>
+
diff --git a/gz-waves-models/world_models/regular_waves_6s_1m/model.sdf b/gz-waves-models/world_models/regular_waves_6s_1m/model.sdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' ?>
+<sdf version="1.6">
+  <model name="regular_waves_6s_1m">
+    <static>true</static>
+    <plugin
+        filename="gz-waves1-waves-model-system"
+        name="gz::sim::systems::WavesModel">
+      <static>0</static>
+      <update_rate>30</update_rate>
+      <wave>
+        <algorithm>sinusoid</algorithm>
+        <number>1</number>
+        <amplitude>1.0</amplitude>
+        <period>6.0</period>
+        <direction>1 0</direction>
+      </wave>
+    </plugin>
+    <link name="base_link">
+      <visual name="visual">
+        <geometry>
+          <mesh>
+            <uri>models://waves/materials/mesh_L256m_N256.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.0 0.05 0.8 0.92</ambient>
+          <diffuse>0.0 0.1 0.7 0.92</diffuse>
+          <specular>0.7 0.7 0.7 0.92</specular>
+          <pbr>
+            <metal>
+              <albedo_map>models://waves/materials/water.jpg</albedo_map>
+              <normal_map>models://waves/materials/wave_normals.dds</normal_map>
+              <environment_map>models://waves/materials/skybox_lowres.dds</environment_map>
+              <roughness>0.3</roughness>
+              <metalness>0.1</metalness>
+            </metal>
+          </pbr>
+        </material>
+        <plugin
+            filename="gz-waves1-waves-visual-system"
+            name="gz::sim::systems::WavesVisual">
+          <static>0</static>
+          <mesh_deformation_method>DYNAMIC_GEOMETRY</mesh_deformation_method>
+          <tiles_x>0 0</tiles_x>
+          <tiles_y>0 0</tiles_y>
+          <wave>
+            <algorithm>sinusoid</algorithm>
+            <number>1</number>
+            <amplitude>1.0</amplitude>
+            <period>6.0</period>
+            <direction>1 0</direction>
+          </wave>
+          <shader language="metal">
+            <vertex>models://waves/materials/waves_vs.metal</vertex>
+            <fragment>models://waves/materials/waves_fs.metal</fragment>
+          </shader>
+        </plugin>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/gz-waves-models/world_models/regular_waves_8s_1m/model.config b/gz-waves-models/world_models/regular_waves_8s_1m/model.config
@@ -0,0 +1,19 @@
+
+<?xml version='1.0'?>
+<model>
+  <name>Regular Waves 8s 1m</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Rhys Mainwaring</name>
+    <email>[email protected]</email>
+  </author>
+
+  <description>
+    Monochromatic surface waves T=8s, A=1m.
+    This model uses the materials from the `waves`
+    model to prevent duplicating the large mesh files.
+  </description>
+</model>
+
diff --git a/gz-waves-models/world_models/regular_waves_8s_1m/model.sdf b/gz-waves-models/world_models/regular_waves_8s_1m/model.sdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' ?>
+<sdf version="1.6">
+  <model name="regular_waves_8s_1m">
+    <static>true</static>
+    <plugin
+        filename="gz-waves1-waves-model-system"
+        name="gz::sim::systems::WavesModel">
+      <static>0</static>
+      <update_rate>30</update_rate>
+      <wave>
+        <algorithm>sinusoid</algorithm>
+        <number>1</number>
+        <amplitude>1.0</amplitude>
+        <period>8.0</period>
+        <direction>1 0</direction>
+      </wave>
+    </plugin>
+    <link name="base_link">
+      <visual name="visual">
+        <geometry>
+          <mesh>
+            <uri>models://waves/materials/mesh_L256m_N256.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.0 0.05 0.8 0.92</ambient>
+          <diffuse>0.0 0.1 0.7 0.92</diffuse>
+          <specular>0.7 0.7 0.7 0.92</specular>
+          <pbr>
+            <metal>
+              <albedo_map>models://waves/materials/water.jpg</albedo_map>
+              <normal_map>models://waves/materials/wave_normals.dds</normal_map>
+              <environment_map>models://waves/materials/skybox_lowres.dds</environment_map>
+              <roughness>0.3</roughness>
+              <metalness>0.1</metalness>
+            </metal>
+          </pbr>
+        </material>
+        <plugin
+            filename="gz-waves1-waves-visual-system"
+            name="gz::sim::systems::WavesVisual">
+          <static>0</static>
+          <mesh_deformation_method>DYNAMIC_GEOMETRY</mesh_deformation_method>
+          <tiles_x>0 0</tiles_x>
+          <tiles_y>0 0</tiles_y>
+          <wave>
+            <algorithm>sinusoid</algorithm>
+            <number>1</number>
+            <amplitude>1.0</amplitude>
+            <period>8.0</period>
+            <direction>1 0</direction>
+          </wave>
+          <shader language="metal">
+            <vertex>models://waves/materials/waves_vs.metal</vertex>
+            <fragment>models://waves/materials/waves_fs.metal</fragment>
+          </shader>
+        </plugin>
+      </visual>
+    </link>
+  </model>
+</sdf>