Add surface to buoyancy engine. (retarget fortress) #1298
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Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
The buoyancy engine should stop working when it crosses the water surface. This PR adds a `<surface>` tag which stops the buoyancy engine from exerting an upward force when the vehicle is surfacing. Signed-off-by: Arjo Chakravarty <[email protected]>
8 tasks
Codecov Report
@@ Coverage Diff @@
## ign-gazebo6 #1298 +/- ##
===============================================
+ Coverage 62.24% 62.25% +0.01%
===============================================
Files 278 278
Lines 23197 23208 +11
===============================================
+ Hits 14438 14449 +11
Misses 8759 8759
Continue to review full report at Codecov.
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chapulina
approved these changes
Jan 19, 2022
Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
|
Ouch, didn't notice that the new test is failing on Windows. I'll skip it on #1297 |
chapulina
added a commit
that referenced
this pull request
Jan 20, 2022
Signed-off-by: Louise Poubel <[email protected]>
7 tasks
arjo129
added a commit
to osrf/lrauv
that referenced
this pull request
Jan 24, 2022
This should address #38. It requires the following upstream fixes and relevant forward ports: * gazebosim/gz-sim#1297 * gazebosim/gz-sim#1298⚠️ Do not merge till the CI goes from ❌ to :heavy_checkmark: Signed-off-by: Arjo Chakravarty <[email protected]>
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This pull request has been mentioned on Gazebo Community. There might be relevant details there: https://community.gazebosim.org/t/new-ignition-releases-2022-03-01-citadel-edifice-fortress/1313/1 |
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🎉 New feature
Summary
The buoyancy engine should stop working when it crosses the water surface.
This PR adds a
<surface>tag which stops the buoyancy engine from exertingan upward force when the vehicle is surfacing.
Test it
To test it run:
You will see two boxes. The box on the right doesn't have a surface set whereas
the box on the left does. When commanded t go up, the box on the left will rise
till it breaches and then start oscillating around the surface. On the other
hand the box on the right will rise forever as no surface is set.
Enter the following in a separate terminal:
The boxes will float up. Note that the box on the left will start oscillating
once it breaches the surface.
The boxes will go down.
To see the current volume enter:
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.