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Merge pull request #8 from IOES-Lab/glider-slocum
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[GSOC-52] Migration of Slocum Glider
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@rakeshv24
rakeshv24 authored Jul 6, 2024
2 parents 9c171b0 + 011c831 commit 9d64ee7
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40 changes: 19 additions & 21 deletions examples/dave_robot_launch/README.md
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## Examples

### 1. Launching REXROV in an empty world

To launch the rexrov model in an empty world, follow these steps:
Before launching, ensure to build and source the workspace:

1. Build and source the workspace:
```bash
colcon build && source install/setup.bash
```

```bash
colcon build && source install/setup.bash
```

2. Launch the model using the specified launch file:
### 1. Launching REXROV in an empty world

```bash
ros2 launch dave_robot_launch robot_in_world.launch.py z:=2.0 namespace:=rexrov world_name:=empty.sdf paused:=false
```
```bash
ros2 launch dave_robot_launch robot_in_world.launch.py z:=2.0 namespace:=rexrov world_name:=empty.sdf paused:=false
```

### 2. Launching REXROV in dave_ocean_waves.world

To launch the rexrov model in an underwater world, follow these steps:
```bash
ros2 launch dave_robot_launch robot_in_world.launch.py z:=-5 namespace:=rexrov world_name:=dave_ocean_waves paused:=false
```

1. Build and source the workspace:
### 3. Launching Slocum Glider in an empty world

```bash
colcon build && source install/setup.bash
```
```bash
ros2 launch dave_robot_launch robot_in_world.launch.py z:=0.2 namespace:=glider_slocum world_name:=empty.sdf paused:=false
```

2. Launch the model using the specified launch file:
### 4. Launching Slocum Glider in dave_ocean_waves.world

```bash
ros2 launch dave_robot_launch robot_in_world.launch.py z:=-5 namespace:=rexrov world_name:=dave_ocean_waves paused:=false
```
```bash
ros2 launch dave_robot_launch robot_in_world.launch.py x:=4 z:=-1.5 namespace:=glider_slocum world_name:=dave_ocean_waves paused:=false
```
12 changes: 12 additions & 0 deletions models/dave_robot_models/description/glider_slocum/model.config
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<?xml version='1.0'?>

<model>
<name>glider_slocum</name>
<version>1.0</version>
<sdf version="1.7">model.sdf</sdf>

<description>
Slocum underwater glider
</description>

</model>
198 changes: 198 additions & 0 deletions models/dave_robot_models/description/glider_slocum/model.sdf
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<?xml version="1.0"?>
<sdf version="1.7">
<model name="glider_slocum">

<static>false</static>
<link name="base_link">
<inertial>
<pose>0 0 -0.06 0 0 0</pose>
<mass>69.25</mass>
<inertia>
<ixx>13.193856</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.418962</iyy>
<iyz>0</iyz>
<izz>13.193856</izz>
</inertia>
</inertial>

<visual name="base_link_visual">
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>0.5 0.5 0.5</scale>
<uri>model://meshes/glider_slocum/Slocum-Glider.dae</uri>
</mesh>
</geometry>
</visual>

<collision name="base_link_collision">
<pose>0 0 0 0 0 0</pose>
<geometry>
<!-- <mesh>
<scale>0.5 0.5 0.5</scale>
<uri>model://meshes/glider_slocum/COLLISION-Slocum-Glider.dae</uri>
</mesh> -->
<box>
<size>0.22 1.5 0.22</size>
</box>
</geometry>
</collision>

<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>1000.0</update_rate>
<topic>imu</topic>
</sensor>

</link>

<link name='battery_link'>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.001</mass>
<inertia>
<ixx>1e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1e-05</iyy>
<iyz>0</iyz>
<izz>1e-05</izz>
</inertia>
</inertial>
<battery name='battery'>
<voltage>4.2</voltage>
</battery>
</link>

<joint name='battery_joint' type='fixed'>
<pose>0 0 0 0 0 0</pose>
<parent>base_link</parent>
<child>battery_link</child>
</joint>

<plugin
filename="gz-sim-linearbatteryplugin-system"
name="gz::sim::systems::LinearBatteryPlugin">
<battery_name>battery</battery_name>
<voltage>4.2</voltage>
<open_circuit_voltage_constant_coef>3.7</open_circuit_voltage_constant_coef>
<open_circuit_voltage_linear_coef>-3.1424</open_circuit_voltage_linear_coef>
<initial_charge>4.32</initial_charge>
<capacity>4.8</capacity>
<resistance>0.002</resistance>
<smooth_current_tau>1.9499</smooth_current_tau>
<enable_recharge>false</enable_recharge>
<power_load>10</power_load>
<start_on_motion>true</start_on_motion>
</plugin>

<link name="propeller_link">
<visual name="propeller_link_visual">
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>0.5 0.5 0.5</scale>
<uri>model://meshes/glider_slocum/Slocum-Glider-Propeller.dae</uri>
</mesh>
</geometry>
</visual>
<inertial>
<pose>0 0 0 0 0 0</pose>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
<mass>0.5</mass>
</inertial>
</link>

<joint name="propeller_joint" type="revolute">
<pose>0 0 0 0 0 0</pose>
<parent>base_link</parent>
<child>propeller_link</child>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>

<plugin
filename="gz-sim-thruster-system"
name="gz::sim::systems::Thruster">
<namespace>glider_slocum</namespace>
<joint_name>propeller_joint</joint_name>
<fluid_density>1025.0</fluid_density>
<thrust_coefficient>4.9e-05</thrust_coefficient>
<velocity_control>true</velocity_control>
<use_angvel_cmd>false</use_angvel_cmd>
</plugin>

<plugin
filename="gz-sim-hydrodynamics-system"
name="gz::sim::systems::Hydrodynamics">
<link_name>base_link</link_name>
<water_density>1025.0</water_density>
<!-- Added mass -->
<xDotU>0</xDotU>
<yDotV>0</yDotV>
<zDotW>0</zDotW>
<kDotP>0</kDotP>
<mDotQ>0</mDotQ>
<nDotR>0</nDotR>
<!-- <xDotU>4</xDotU>
<yDotV>95</yDotV>
<zDotW>75</zDotW>
<kDotP>0.4</kDotP>
<mDotQ>27</mDotQ>
<nDotR>32</nDotR> -->

<!-- Linear Drag Coefficients -->
<!-- diagonal terms -->
<xU>-8</xU>
<yV>-162</yV>
<zW>-108</zW>
<kP>-13</kP>
<mQ>-20</mQ>
<nR>-32</nR>
<!-- cross terms -->
<yR>150</yR>
<zQ>-100</zQ>
<mW>37</mW>
<nV>-34</nV>

<!-- Quadratic Drag Coefficients -->
<xUabsU>0</xUabsU>
<yVabsV>0</yVabsV>
<zWabsW>0</zWabsW>
<kPabsP>0</kPabsP>
<mQabsQ>0</mQabsQ>
<nRabsR>0</nRabsR>
</plugin>

<plugin
filename="gz-sim-imu-system"
name="gz::sim::systems::Imu">
</plugin>

<plugin
filename="gz-sim-odometry-publisher-system"
name="gz::sim::systems::OdometryPublisher">
<odom_frame>map</odom_frame>
<robot_base_frame>base_link</robot_base_frame>
<dimensions>3</dimensions>
<odom_publish_frequency>100</odom_publish_frequency>
</plugin>

<plugin
filename="gz-sim-joint-state-publisher-system"
name="gz::sim::systems::JointStatePublisher">
</plugin>


</model>
</sdf>
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