Maritime tutorials 💧 - Part 2 of 4 #2258

caguero · 2023-12-02T16:22:51Z

Summary

This pull request continues the series of maritime tutorials. I'm adding two new tutorials covering the theory of operation of the buoyancy and hydrodynamics plugins.

Pinging @crvogt for review.

How to test it

colcon build --merge-install --packages-select gz-sim8 --cmake-target doc

Point your browser to build/gz-sim8/doxygen/html/tutorials.html and go from there.

Checklist

Signed all commits for DCO
Added tests
Updated documentation (as needed)
Updated migration guide (as needed)
Consider updating Python bindings (if the library has them)
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 and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

Signed-off-by: Carlos Agüero <[email protected]>

tutorials/theory_buoyancy.md

tutorials/theory_hydrodynamics.md

Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Co-authored-by: crvogt <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

…_tutorials_part2

Signed-off-by: Carlos Agüero <[email protected]>

…_tutorials_part2

Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Signed-off-by: Carlos Agüero <[email protected]>

tutorials/theory_buoyancy.md

Co-authored-by: Ian Chen <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Signed-off-by: Carlos Agüero <[email protected]>

…im/gz-sim into caguero/maritime_tutorials_part1

…_tutorials_part2

Co-authored-by: Ian Chen <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

…im/gz-sim into caguero/maritime_tutorials_part2

Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

arjo129

I absolutely enjoyed reading the theory tutorial. :) Just would like to add a small note at the end of the buoyancy tutorial regarding collision meshes.

arjo129 · 2023-12-11T03:19:10Z

tutorials/theory_buoyancy.md

+# Known limitations
+
+When the buoyancy plugin is configured in `graded buoyancy mode`, only `<box>`
+and `<sphere>` collision geometries are supported.


Also add a note that it relies on collision meshes. This can be annoying for end users who want to accurately model collision and buoyancy but the two have two different types of behaviour.

Is your suggestion captured in these paragraphs?

https:/gazebosim/gz-sim/pull/2258/files#diff-378e68a808fda7960b03c7a17b40fd5945fb274e584ed96850c3dac10d6bd4cbR16-R30

tutorials/theory_hydrodynamics.md

Co-authored-by: crvogt <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Signed-off-by: Carlos Agüero <[email protected]>

…im/gz-sim into caguero/maritime_tutorials_part2

crvogt

This looks good to me.

ahcorde

Comment related with one link, otherwise LGTM

tutorials/theory_buoyancy.md

Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Signed-off-by: Carlos Agüero <[email protected]>

caguero added 3 commits December 1, 2023 19:08

Adding maritime tutorials.

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Signed-off-by: Carlos Agüero <[email protected]>

Adding \page

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Buoyancy and hydrodynamics tutorials.

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Signed-off-by: Carlos Agüero <[email protected]>

caguero requested review from mabelzhang and mjcarroll as code owners December 2, 2023 16:22

ahcorde requested changes Dec 4, 2023

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caguero and others added 13 commits December 5, 2023 10:26

Update tutorials/adding_system_plugins.md

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Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

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Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

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Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

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Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

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Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

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Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

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Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

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Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

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Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

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Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Apply suggestions from code review

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Co-authored-by: crvogt <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Update tutorials/adding_visuals.md

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Co-authored-by: crvogt <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Merge branch 'caguero/maritime_tutorials_part1' into caguero/maritime…

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…_tutorials_part2

caguero changed the title ~~Maritime tutorials - Part 2~~ Maritime tutorials - Part 2 of 4 Dec 5, 2023

caguero and others added 10 commits December 5, 2023 22:06

Tweaks

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Signed-off-by: Carlos Agüero <[email protected]>

Merge branch 'caguero/maritime_tutorials_part1' into caguero/maritime…

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…_tutorials_part2

Update tutorials/theory_buoyancy.md

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Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

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Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Update tutorials/theory_buoyancy.md

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Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Update tutorials/theory_buoyancy.md

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Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Update tutorials/theory_buoyancy.md

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Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

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Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

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Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Update tutorials/theory_hydrodynamics.md

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Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

caguero and others added 3 commits December 5, 2023 22:09

Update tutorials/theory_hydrodynamics.md

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Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Update tutorials/theory_hydrodynamics.md

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Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

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Signed-off-by: Carlos Agüero <[email protected]>

iche033 reviewed Dec 6, 2023

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caguero and others added 11 commits December 6, 2023 14:15

Update tutorials/create_vehicle.md

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Co-authored-by: Ian Chen <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Update tutorials/adding_visuals.md

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Co-authored-by: Ian Chen <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Tweaks

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Signed-off-by: Carlos Agüero <[email protected]>

Merge branch 'caguero/maritime_tutorials_part1' of github.com:gazebos…

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…im/gz-sim into caguero/maritime_tutorials_part1

Merge branch 'caguero/maritime_tutorials_part1' into caguero/maritime…

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…_tutorials_part2

Update tutorials/theory_buoyancy.md

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Co-authored-by: Ian Chen <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Update tutorials/theory_buoyancy.md

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Co-authored-by: Ian Chen <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Update tutorials/theory_buoyancy.md

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Co-authored-by: Ian Chen <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Merge branch 'caguero/maritime_tutorials_part2' of github.com:gazebos…

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…im/gz-sim into caguero/maritime_tutorials_part2

Apply suggestions from code review

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Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Update tutorials/theory_buoyancy.md

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Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

caguero changed the title ~~Maritime tutorials - Part 2 of 4~~ Maritime tutorials 💧 - Part 2 of 4 Dec 7, 2023

arjo129 reviewed Dec 11, 2023

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Co-authored-by: crvogt <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Note about added mass.

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Signed-off-by: Carlos Agüero <[email protected]>

Merge branch 'caguero/maritime_tutorials_part2' of github.com:gazebos…

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…im/gz-sim into caguero/maritime_tutorials_part2

crvogt approved these changes Dec 21, 2023

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Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Base automatically changed from caguero/maritime_tutorials_part1 to gz-sim8 December 22, 2023 16:58

Merge

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Signed-off-by: Carlos Agüero <[email protected]>

caguero merged commit ae0070f into gz-sim8 Dec 22, 2023
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caguero deleted the caguero/maritime_tutorials_part2 branch December 22, 2023 17:01

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Maritime tutorials 💧 - Part 2 of 4 #2258

Maritime tutorials 💧 - Part 2 of 4 #2258

caguero commented Dec 2, 2023

arjo129 left a comment

arjo129 Dec 11, 2023

caguero Dec 14, 2023 •

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Maritime tutorials 💧 - Part 2 of 4 #2258

Maritime tutorials 💧 - Part 2 of 4 #2258

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caguero commented Dec 2, 2023

Summary

How to test it

Checklist

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