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RoboBoat02 reference model #759

Merged
merged 13 commits into from
Dec 21, 2023
Merged

RoboBoat02 reference model #759

merged 13 commits into from
Dec 21, 2023

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caguero
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@caguero caguero commented Dec 17, 2023

This pull request adds 2 of 2 of the RoboBoat reference models. I decided to add it to this repository to make it easier to modify by RoboBoat users, as opposed to upstreaming it to Fuel.

  • Basic SDF.
  • Collisions based on simple-shape geometries.
  • Tweaked inertias
  • Thruster plugin
  • Hydrodynamics plugin
  • Surface plugin attached to each pontoon.

Screenshot from 2023-12-17 11-19-28

Screenshot from 2023-12-17 11-20-55

Screenshot from 2023-12-17 11-21-13

Screenshot from 2023-12-17 11-21-42

How to test it?

Add the following block to worlds/sydney_regatta.sdf.

<!-- RoboBoat 02 -->
<include>
  <name>roboboat02</name>
  <pose>-528 180 0 0 0 0</pose>
  <uri>roboboat02</uri>
</include>

Recompile VRX and launch it:

GZ_VERSION=garden colcon build --merge-install
ros2 launch vrx_gz competition.launch.py world:=sydney_regatta

Spin the thrusters:

gz topic -t /model/roboboat02/joint/right_engine_propeller_joint/cmd_thrust -m gz.msgs.Double -p 'data: 1'

caguero added 12 commits August 17, 2023 23:26
Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
@caguero caguero requested a review from crvogt December 17, 2023 10:26
@caguero caguero added this to the 2.4.0 milestone Dec 17, 2023
Base automatically changed from caguero/roboboat_models to main December 20, 2023 20:32
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@j-herman j-herman left a comment

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As with roboboat01, the directional stability seems high, but everything is working ok.

@caguero caguero merged commit 1859b10 into main Dec 21, 2023
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@caguero caguero deleted the caguero/roboboat02 branch December 21, 2023 19:32
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2 participants