Buoyancy engine

[arjo129]

🎉 New feature

Summary

It is common among many commercial maritime vessels to have some form of a ballast tank to control the buoyancy of the vehicle. Ioiln smaller vehicles this could be an oil/gas filled bladder. In larger vehicles this is usually filled with air. When the vehicle needs to sink the air/gas/oil is removed and replaced with water thus increasing the mass of the vehicle. This plugin was developed for the MBARI LRAUV which has an oil bladder but may be used to model other types of ballast tanks as well.

Test it

TODO

• docs and better PR explanations
• Pass code check
• Write unit tests
• Create example

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge

[chapulina]

Works nicely!

I see some compiler warnings:

In file included from /home/chapulina/dev_focal/ws_fortress/src/ign-gazebo/src/systems/buoyancy_engine/BuoyancyEngine.cc:29:
/home/chapulina/dev_focal/ws_fortress/src/ign-gazebo/src/systems/buoyancy_engine/BuoyancyEngine.hh:70:3: warning: multi-line comment [-Wcomment]
   70 |   /// ign topic -t  /model/tethys/buoyancy_engine/ -m ignition.msgs.Double \
      |   ^
/home/chapulina/dev_focal/ws_fortress/src/ign-gazebo/src/systems/buoyancy_engine/BuoyancyEngine.hh:75:3: warning: multi-line comment [-Wcomment]
   75 |   /// ign topic -t  /model/tethys/buoyancy_engine/ -m ignition.msgs.Double \
      |   ^
/home/chapulina/dev_focal/ws_fortress/src/ign-gazebo/test/integration/buoyancy_engine.cc: In lambda function:
/home/chapulina/dev_focal/ws_fortress/src/ign-gazebo/test/integration/buoyancy_engine.cc:76:57: warning: unused parameter __info_ [-Wunused-parameter]
   76 |   testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &_info,
      |                               ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~
/home/chapulina/dev_focal/ws_fortress/src/ign-gazebo/test/integration/buoyancy_engine.cc: In lambda function:
/home/chapulina/dev_focal/ws_fortress/src/ign-gazebo/test/integration/buoyancy_engine.cc:123:57: warning: unused parameter __info_ [-Wunused-parameter]
  123 |   testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &_info,
      |   

[codecov]

Codecov Report

Merging #1009 (c4df58b) into main (7ffcf4c) will increase coverage by 0.16%.
The diff coverage is 85.71%.

@@            Coverage Diff             @@
##             main    #1009      +/-   ##
==========================================
+ Coverage   63.30%   63.46%   +0.16%     
==========================================
  Files         239      240       +1     
  Lines       19464    19548      +84     
==========================================
+ Hits        12322    12407      +85     
+ Misses       7142     7141       -1     

Impacted Files	Coverage Δ
src/systems/buoyancy_engine/BuoyancyEngine.cc	85.71% <85.71%> (ø)
...int_position_controller/JointPositionController.cc	60.57% <0.00%> (+7.42%)	⬆️

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[arjo129]

@chapulina this is ready for round 2.

With regards to #818 I have given my opinion here: #1009 (comment)

Theoretically, this will not work well with it without some modification. However, in practice if the ballast is significantly smaller than the vehicle itself it should be fine. We can place a warning label in the documentation for now. However, as I mentioned, we probably want some way of reading loaded world fluid density properties to reduce duplication of configuration.

[chapulina]

Works great! I pushed some small tweaks directly onto this branch in c4df58b. @arjo129 I'll wait for your ok on those changes before merging.

[arjo129]

Looks Good To Me!