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Adds a surface to the SDFormat files. #153

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Adds a surface to the SDFormat files. #153

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40d04fa
Adds a surface to the SDFormat files.
arjo129 Jan 24, 2022
432c2fa
add surface to model
arjo129 Jan 24, 2022
c2a4d41
Merge branch 'main' into arjo/fix/surface
arjo129 Feb 3, 2022
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1 change: 1 addition & 0 deletions lrauv_description/models/tethys_equipped/model.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -195,6 +195,7 @@
<max_volume>0.000955</max_volume>
<!-- m^3/s -->
<max_inflation_rate>0.000003</max_inflation_rate>
<surface>0</surface>
</plugin>
<plugin
filename="ignition-gazebo-detachable-joint-system"
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11 changes: 2 additions & 9 deletions lrauv_description/test/worlds/tilted_world.sdf
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Expand Up @@ -17,7 +17,7 @@

<physics name="1ms" type="dart">
<max_step_size>0.02</max_step_size>
<real_time_factor>0</real_time_factor>
<real_time_factor>1</real_time_factor>
</physics>
<plugin
filename="ignition-gazebo-physics-system"
Expand All @@ -35,14 +35,7 @@
<plugin
filename="ignition-gazebo-buoyancy-system"
name="ignition::gazebo::systems::Buoyancy">
<!-- TODO: fix behaviour near surface, see https:/osrf/lrauv/issues/102
<graded_buoyancy>
<default_density>1025</default_density>
<density_change>
<above_depth>5</above_depth>
<density>1</density>
</density_change>
</graded_buoyancy> -->
<!-- TODO: fix behaviour near surface, see https:/osrf/lrauv/issues/102 -->
<uniform_fluid_density>1025</uniform_fluid_density>
</plugin>

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9 changes: 4 additions & 5 deletions lrauv_ignition_plugins/worlds/buoyant_tethys.sdf
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Expand Up @@ -35,15 +35,14 @@
<plugin
filename="ignition-gazebo-buoyancy-system"
name="ignition::gazebo::systems::Buoyancy">
<!-- TODO: fix behaviour near surface, see https:/osrf/lrauv/issues/102
<graded_buoyancy>
<!-- TODO: fix behaviour near surface, see https:/osrf/lrauv/issues/102-->
<graded_buoyancy>
<default_density>1025</default_density>
<density_change>
<above_depth>0.5</above_depth>
<above_depth>1</above_depth>
<density>1</density>
</density_change>
</graded_buoyancy-->
<uniform_fluid_density>1025</uniform_fluid_density>
</graded_buoyancy>
</plugin>

<!-- Requires ParticleEmitter2 in ign-gazebo 4.8.0, which will be copied
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9 changes: 8 additions & 1 deletion lrauv_ignition_plugins/worlds/empty_environment.sdf
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Expand Up @@ -39,7 +39,14 @@
<plugin
filename="ignition-gazebo-buoyancy-system"
name="ignition::gazebo::systems::Buoyancy">
<uniform_fluid_density>1025</uniform_fluid_density>
<graded_buoyancy>
<default_density>1025</default_density>
<density_change>
<above_depth>0.5</above_depth>
<density>1</density>
</density_change>
</graded_buoyancy>
<!--<uniform_fluid_density>1025</uniform_fluid_density>-->
</plugin>

<!-- Requires ParticleEmitter2 in ign-gazebo 4.8.0, which will be copied
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20 changes: 14 additions & 6 deletions lrauv_ignition_plugins/worlds/multi_lrauv.sdf
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Expand Up @@ -33,7 +33,14 @@
<plugin
filename="ignition-gazebo-buoyancy-system"
name="ignition::gazebo::systems::Buoyancy">
<uniform_fluid_density>1025</uniform_fluid_density>
<graded_buoyancy>
<default_density>1025</default_density>
<density_change>
<above_depth>0.5</above_depth>
<density>1</density>
</density_change>
</graded_buoyancy>
<!--<uniform_fluid_density>1025</uniform_fluid_density>-->
</plugin>

<!-- Requires ParticleEmitter2 in ign-gazebo 4.8.0, which will be copied
Expand Down Expand Up @@ -101,12 +108,12 @@
</include>

<include>
<pose>0 0 1 0 0 1.57</pose>
<pose>0 0 -1 0 0 1.57</pose>
<uri>tethys_equipped</uri>
</include>

<include>
<pose>5 0 1 0 0 1.57</pose>
<pose>5 0 -1 0 0 1.57</pose>
<uri>tethys_equipped</uri>
<name>triton</name>

Expand Down Expand Up @@ -149,7 +156,7 @@
</include>

<include>
<pose>-5 0 1 0 0 1.57</pose>
<pose>-5 0 -1 0 0 1.57</pose>
<uri>tethys_equipped</uri>
<name>daphne</name>

Expand Down Expand Up @@ -193,15 +200,16 @@

<!-- Swimming race lane signs -->
<include>
<pose>0 0 -1 0 0 3.1415926</pose>
<pose>0 0 -2 0 0 3.1415926</pose>
<uri>ABCSign_5m</uri>
<name>start_line</name>
</include>
<include>
<pose>0 -25 -1 0 0 3.1415926</pose>
<pose>0 -25 -2 0 0 3.1415926</pose>
<uri>ABCSign_5m</uri>
<name>finish_line</name>
</include>

</world>
</sdf>