Added seed value

Signed-off-by: Aditya <[email protected]>

examples/worlds/acoustic_comms_propagation.sdf

@@ -33,6 +33,7 @@
  <source_power>0.001</source_power>
  <noise_level>150</noise_level>
  <spectral_efficiency>7</spectral_efficiency>
+ <seed>0</seed>
  </propagation_model>
 
  </plugin>

src/systems/acoustic_comms/AcousticComms.cc

@@ -83,6 +83,9 @@ class AcousticComms::Implementation
 
  /// \brief Flag to store if the propagation model should be used.
  public: bool usePropagationModel = false;
+
+ /// \brief Seed value for random sampling.
+ public: unsigned int seed = 0;
 };
 
 //////////////////////////////////////////////////
@@ -125,6 +128,7 @@ bool AcousticComms::Implementation::propagationModel(
  1.0 - std::exp(static_cast<double>(_numBytes) *
  std::log(1 - ber));
 
+ gz::math::Rand::Seed(this->seed);
  double randDraw = gz::math::Rand::DblUniform();
  return randDraw > packetDropProb;
 }
@@ -165,6 +169,7 @@ void AcousticComms::Load(
  this->dataPtr->noiseLevel = propElement->Get<double>("noise_level");
  this->dataPtr->spectralEfficiency =
  propElement->Get<double>("spectral_efficiency");
+ this->dataPtr->seed = propElement->Get<int>("seed");
  }
 
  gzmsg << "AcousticComms configured with max range : " <<

src/systems/acoustic_comms/AcousticComms.hh

@@ -73,6 +73,7 @@ namespace systems
  /// over a given bandwidth in a specific
  /// communication system, in (bits/sec)/Hz.
  /// Defaults to 7 bits/sec/Hz.
+ /// * <seed> : Seed value to be used for random sampling.
  ///
  /// Here's an example:
  /// <plugin