M3 meta-issue

[caguero]

M3 design document is here (courtesy of @arjo129) .

• Infrastructure:
  • Enable CI to maintain vehicle/project stability. See pull request Improve time sync between simulation and controller #36 and pull request Ignition Marker improvements for LRAUV #52
  • Update/clean installation and build process. See pull request Depth rate off in YoYo Mission. #50
  • Consider to remove the ign launch file (Incorrect liftdrag when we reverse. #55).
  • Strip and add back components #82
• Update VBS units. See VBS use cubic meters instead of cubic centimeters #15 .
• MBARI integration:
  • Update LRAUV state fields (Integrate currents with position lookups. #46).
• Hydrodynamics improvements:
  • Add crossterms support. Pull request Investigate why starting an LRAUV away from the origin results in a slow but steady ascent. #35
  • Fix hydrodynamics issues. See Hydrodynamics Issues #7
• Buoyancy improvement to distinguish between water and air. See Distinguish between water and air #13.
  • Volume below a plane gazebosim/gz-math#219
  • Buoyancy improvements gazebosim/gz-sim#818
  • Improvements to documentation and docker setups from my getting spun up #101 .
• Tethys model improvements:
  • Updated inertias, split vehicle sections, new frame of reference. Pull request Use upstream plugins #37
  • Fix rudder inertia. See Rudder inertia has an erroneous pitch #8.
• Automated hydrostatic stability. #71
  • Schedule a meeting with scientists at MBARI to discuss use cases and alternatives
  • Design the format (CSV, HDF5, etc.).
  • Implement the parser (via a single plugin that can communicate with the sensors via Transport, or via a library that each sensor can use, ... Remove pre-release repos, Fortress is stable #86
  • Interpolate data
  • Visualize data Setup profiler #87
  • Consider the same approach to capture current.
• Upstream tethys model to Fuel #72
  • Auto generated model. #89
• Terminal velocity test #73
  • Pre-requisite: Support custom sensors gazebosim/gz-sensors#9
  • Science sensors: detect when spherical coordinates are set #77
• Task 8: Create tool[s] for creating scientifically relevant scenarios: #1
  • Scope the tool[s]: CLI tool that generates data based on some parameters, CLI tool that converts from an existing data set to the new format created for Ignition, GUI, etc.
  • Implement the solution[s].
• Relax spawn tight tolerance #66
  • Specify and create/get MBARI missions to use for validation.
  • Mission validation using logging, plots, comparison with MBARI sim, and/or using Ben's feedback.
• Quality of life improvements
  • Plot values from startup gazebosim/gz-sim#949
  • Better scrolling for plugins menu gazebosim/gz-sim#821
• Upstream code from LRAUV repo to Ignition. #3

[mabelzhang]

Re stratified ocean current, this is a related feature from NPS DAVE in Gazebo-classic. There are examples for constant, change, stratified, and multi-vehicle.
https://github.com/Field-Robotics-Lab/dave/wiki/Ocean-Current
I haven't tried it. They're using csv for input.