Merge gz-sim7 ➡️ gz-sim8 #2411
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Merge gz-sim7 ➡️ gz-sim8 #2411
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* test script tag Signed-off-by: Dharini Dutia <[email protected]> * add dark grey before creating component Signed-off-by: Dharini Dutia <[email protected]> * material parser Signed-off-by: Dharini Dutia <[email protected]> * linters Signed-off-by: Dharini Dutia <[email protected]> * Update src/rendering/MaterialParser/MaterialParser.cc Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Dharini Dutia <[email protected]> Signed-off-by: Dharini Dutia <[email protected]> * fix configLoader, material struct and feedback Signed-off-by: Dharini Dutia <[email protected]> * default color and todos Signed-off-by: Dharini Dutia <[email protected]> * install/load one file, range based loop, hardcode dependent solid colors Signed-off-by: Dharini Dutia <[email protected]> * fix install_dir property Signed-off-by: Dharini Dutia <[email protected]> * credits, initializing cleanup Signed-off-by: Dharini Dutia <[email protected]> * eof Signed-off-by: Dharini Dutia <[email protected]> * reformat Signed-off-by: Dharini Dutia <[email protected]> * add integration test Signed-off-by: Dharini Dutia <[email protected]> * migration note Signed-off-by: Dharini Dutia <[email protected]> * intends, default case, invalid color Signed-off-by: Dharini Dutia <[email protected]> * optional materialValues, typo Signed-off-by: Dharini Dutia <[email protected]> * feedback Signed-off-by: Dharini Dutia <[email protected]> * size check Signed-off-by: Dharini Dutia <[email protected]> * get color values Signed-off-by: Dharini Dutia <[email protected]> * migration doc update Signed-off-by: Dharini Dutia <[email protected]> --------- Signed-off-by: Dharini Dutia <[email protected]> Signed-off-by: Dharini Dutia <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>
Edited gazebo.material file to remove multiple passes in solid colors. Refactored the parser based on Gazebo's style guide. Signed-off-by: Dharini Dutia <[email protected]> Signed-off-by: Dharini Dutia <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>
Signed-off-by: Dharini Dutia <[email protected]>
The failures are caused by a change in the DART physics engine (dartsim/dart#1774) which causes joints to recover after reaching or exceeding their position limits. It seems like the model used in this plugin starts off with joint limits violated and recovers after a few iterations. This causes a small movement of the robot. Since the test works by comparing images taken of the robot at the start of simulation and after a few iterations, the small movement causes a discrepancy in the images. The solution here is to run the whole test while simulation is paused. This also cleans up some TestFixture warnings. Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
Merge ign-gazebo6 ➡️ gz-sim7
This adds the dynamics to simulate a lighter-than-air vehicle such as blimps/airships. The modelling is based on [1] and [2]. Previously we added an airship-dynamics-plugin to Gazebo-Classic for [PX4 Gazebo SITL](PX4/PX4-SITL_gazebo-classic#490) , but we suffered simulation instability similar to that of the underwater-vehicles since Gazebo-Classic could not simulate the Added Mass dynamics. This PR brings that airship-dynamics-plugin to Gazebo which supports the Added Mass dynamics. Furthermore, I have extended, the Link class to provide access to the AddedMassMatrix, to allow the lighter-than-air system to easily access this matrix. The code is somewhat based of the Hydrodynamics system. I have an STL file which I can contribute, which is an envelope from [Wind Reiter](https://www.windreiter.com/shop/sb-324-300/), and the coefficients in the integrations test is for this envelope model. ### Citations [1] Li, Y., & Nahon, M. (2007). Modeling and simulation of airship dynamics. Journal of Guidance, Control, and Dynamics, 30(6), 1691–1700. [2] Li, Y., Nahon, M., & Sharf, I. (2011). Airship dynamics modeling: A literature review. Progress in Aerospace Sciences, 47(3), 217–239. Signed-off-by: henrykotze <[email protected]>
This adds some comments and uses structured bindings in range-based for loops to improve readability. It also adds const to unmodified variables in a loop. Signed-off-by: Steve Peters <[email protected]>
azeey
approved these changes
May 22, 2024
mjcarroll
approved these changes
May 22, 2024
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➡️ Forward port
Port
gz-sim7➡️gz-sim8Branch comparison: gz-sim8...gz-sim7
Note to maintainers: Remember to Merge with commit (not squash-merge or rebase)