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Update added-mass of lrauv model and remove added mass definitions from examples #2608

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Update added-mass of lrauv model and remove added mass definitions from examples #2608

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daaf518
Update added-mass of lrauv model and remove added mass definitions from
arjo129 Sep 9, 2024
e5d2b7d
Update Migration guide
arjo129 Sep 9, 2024
6e00f71
Fixed remaining tutorials
arjo129 Sep 11, 2024
0998be2
Revert DVL tests
arjo129 Sep 13, 2024
fc7a7ff
Merge branch 'gz-sim9' into arjo/fix/update_model
arjo129 Sep 17, 2024
23f589f
Move model to Open Robotics ownership
arjo129 Sep 20, 2024
229afb2
Merge branch 'arjo/fix/update_model' of https://github.com/gazebosim/…
arjo129 Sep 20, 2024
6775fde
Merge branch 'gz-sim9' into arjo/fix/update_model
arjo129 Sep 20, 2024
dfee475
Merge branch 'gz-sim9' into arjo/fix/update_model
arjo129 Oct 5, 2024
7594960
Style
arjo129 Oct 10, 2024
6a235ee
Address PR errors
arjo129 Oct 29, 2024
3da6ca7
Merge branch 'arjo/fix/update_model' of https://github.com/gazebosim/…
arjo129 Oct 29, 2024
678a752
Remove strayt character
arjo129 Oct 29, 2024
64d10a9
Merge branch 'gz-sim9' into arjo/fix/update_model
azeey Nov 5, 2024
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4 changes: 4 additions & 0 deletions Migration.md
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Expand Up @@ -23,6 +23,10 @@ release will remove the deprecated code.
`gz::sim::systems::kPostPhysicsSensorPriority` constant to ensure that its
`Update` phase executes after `Physics::Update` and before systems with
default priority.
* **Deprecated**
+ In the Hydrodynamics system, added mass has been deprecated in favour of
the builtin sdformat `<fuel_added_mass>` tag that offers better stability
guarantees.

## Gazebo Sim 7.x to 8.0
* **Deprecated**
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24 changes: 3 additions & 21 deletions examples/worlds/acoustic_comms_demo.sdf
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Expand Up @@ -71,7 +71,7 @@

<include>
<pose>0 0 1 0 0 1.57</pose>
<uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/LRAUV Post-Ionic</uri>

<!-- Acoustic comms endpoint -->
<plugin
Expand Down Expand Up @@ -148,12 +148,6 @@
filename="gz-sim-hydrodynamics-system"
name="gz::sim::systems::Hydrodynamics">
<link_name>base_link</link_name>
<xDotU>-4.876161</xDotU>
<yDotV>-126.324739</yDotV>
<zDotW>-126.324739</zDotW>
<kDotP>0</kDotP>
<mDotQ>-33.46</mDotQ>
<nDotR>-33.46</nDotR>
<xUU>-6.2282</xUU>
<xU>0</xU>
<yVV>-601.27</yVV>
Expand All @@ -172,7 +166,7 @@

<include>
<pose>15 0 1 0 0 1.57</pose>
<uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/LRAUV Post-Ionic</uri>
<name>triton</name>

<!-- Acoustic comms endpoint -->
Expand Down Expand Up @@ -250,12 +244,6 @@
filename="gz-sim-hydrodynamics-system"
name="gz::sim::systems::Hydrodynamics">
<link_name>base_link</link_name>
<xDotU>-4.876161</xDotU>
<yDotV>-126.324739</yDotV>
<zDotW>-126.324739</zDotW>
<kDotP>0</kDotP>
<mDotQ>-33.46</mDotQ>
<nDotR>-33.46</nDotR>
<xUU>-6.2282</xUU>
<xU>0</xU>
<yVV>-601.27</yVV>
Expand All @@ -274,7 +262,7 @@

<include>
<pose>-15 0 1 0 0 1.57</pose>
<uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/LRAUV Post-Ionic</uri>
<name>daphne</name>

<!-- Acoustic comms endpoint -->
Expand Down Expand Up @@ -352,12 +340,6 @@
filename="gz-sim-hydrodynamics-system"
name="gz::sim::systems::Hydrodynamics">
<link_name>base_link</link_name>
<xDotU>-4.876161</xDotU>
<yDotV>-126.324739</yDotV>
<zDotW>-126.324739</zDotW>
<kDotP>0</kDotP>
<mDotQ>-33.46</mDotQ>
<nDotR>-33.46</nDotR>
<xUU>-6.2282</xUU>
<xU>0</xU>
<yVV>-601.27</yVV>
Expand Down
8 changes: 1 addition & 7 deletions examples/worlds/auv_controls.sdf
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Expand Up @@ -71,7 +71,7 @@

<include>
<pose>0 0 1 0 0 1.57</pose>
<uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI%20Tethys%20LRAUV</uri>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/LRAUV Post-Ionic</uri>

<!-- Joint controllers -->
<plugin
Expand Down Expand Up @@ -141,12 +141,6 @@
filename="gz-sim-hydrodynamics-system"
name="gz::sim::systems::Hydrodynamics">
<link_name>base_link</link_name>
<xDotU>-4.876161</xDotU>
<yDotV>-126.324739</yDotV>
<zDotW>-126.324739</zDotW>
<kDotP>0</kDotP>
<mDotQ>-33.46</mDotQ>
<nDotR>-33.46</nDotR>
<xUabsU>-6.2282</xUabsU>
<xU>0</xU>
<yVabsV>-601.27</yVabsV>
Expand Down
12 changes: 2 additions & 10 deletions examples/worlds/dvl_world.sdf
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Expand Up @@ -134,12 +134,11 @@
</visual>
</link>
</model>

<include>
<pose>0 0 -80 0 0 1.57</pose>
<uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/LRAUV Post-Ionic</uri>

<experimental:params>
<experimental:params>U
<sensor
element_id="base_link" action="add"
name="teledyne_pathfinder_dvl"
Expand Down Expand Up @@ -267,13 +266,6 @@
filename="gz-sim-hydrodynamics-system"
name="gz::sim::systems::Hydrodynamics">
<link_name>base_link</link_name>
<xDotU>-4.876161</xDotU>
<yDotV>-126.324739</yDotV>
<zDotW>-126.324739</zDotW>
<kDotP>0</kDotP>
<mDotQ>-33.46</mDotQ>
<nDotR>-33.46</nDotR>
<xUabsU>-6.2282</xUabsU>
<xU>0</xU>
<yVabsV>-601.27</yVabsV>
<yV>0</yV>
Expand Down
8 changes: 1 addition & 7 deletions examples/worlds/lrauv_control_demo.sdf
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Expand Up @@ -175,7 +175,7 @@

<include>
<pose>0 0 1 0 0 0</pose>
<uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/LRAUV Post-Ionic</uri>

<plugin
filename="gz-sim-odometry-publisher-system"
Expand Down Expand Up @@ -250,12 +250,6 @@
filename="gz-sim-hydrodynamics-system"
name="gz::sim::systems::Hydrodynamics">
<link_name>base_link</link_name>
<xDotU>-4.876161</xDotU>
<yDotV>-126.324739</yDotV>
<zDotW>-126.324739</zDotW>
<kDotP>0</kDotP>
<mDotQ>-33.46</mDotQ>
<nDotR>-33.46</nDotR>
<xUabsU>-6.2282</xUabsU>
<xU>0</xU>
<yVabsV>-601.27</yVabsV>
Expand Down
25 changes: 3 additions & 22 deletions examples/worlds/multi_lrauv_race.sdf
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Expand Up @@ -59,7 +59,7 @@

<include>
<pose>0 0 1 0 0 1.57</pose>
<uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/LRAUV Post-Ionic</uri>

<!-- Joint controllers -->
<plugin
Expand Down Expand Up @@ -128,12 +128,6 @@
filename="gz-sim-hydrodynamics-system"
name="gz::sim::systems::Hydrodynamics">
<link_name>base_link</link_name>
<xDotU>-4.876161</xDotU>
<yDotV>-126.324739</yDotV>
<zDotW>-126.324739</zDotW>
<kDotP>0</kDotP>
<mDotQ>-33.46</mDotQ>
<nDotR>-33.46</nDotR>
<yUabsU>-6.2282</yUabsU>
<xU>0</xU>
<yVabsV>-601.27</yVabsV>
Expand All @@ -152,7 +146,7 @@

<include>
<pose>5 0 1 0 0 1.57</pose>
<uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/LRAUV Post-Ionic</uri>
<name>triton</name>

<!-- Joint controllers -->
Expand Down Expand Up @@ -222,13 +216,6 @@
filename="gz-sim-hydrodynamics-system"
name="gz::sim::systems::Hydrodynamics">
<link_name>base_link</link_name>
<xDotU>-4.876161</xDotU>
<yDotV>-126.324739</yDotV>
<zDotW>-126.324739</zDotW>
<kDotP>0</kDotP>
<mDotQ>-33.46</mDotQ>
<nDotR>-33.46</nDotR>
<yUabsU>-6.2282</yUabsU>
<xU>0</xU>
<yVabsV>-601.27</yVabsV>
<yV>0</yV>
Expand All @@ -246,7 +233,7 @@

<include>
<pose>-5 0 1 0 0 1.57</pose>
<uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/LRAUV Post-Ionic</uri>
<name>daphne</name>

<!-- Joint controllers -->
Expand Down Expand Up @@ -316,12 +303,6 @@
filename="gz-sim-hydrodynamics-system"
name="gz::sim::systems::Hydrodynamics">
<link_name>base_link</link_name>
<xDotU>-4.876161</xDotU>
<yDotV>-126.324739</yDotV>
<zDotW>-126.324739</zDotW>
<kDotP>0</kDotP>
<mDotQ>-33.46</mDotQ>
<nDotR>-33.46</nDotR>
<yUabsU>-6.2282</yUabsU>
<xU>0</xU>
<yVabsV>-601.27</yVabsV>
Expand Down
6 changes: 0 additions & 6 deletions tutorials/adding_system_plugins.md
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Expand Up @@ -103,12 +103,6 @@ Uncomment the following block from `buoyant_turtle.sdf`:
filename="gz-sim-hydrodynamics-system"
name="gz::sim::systems::Hydrodynamics">
<link_name>base_link</link_name>
<xDotU>-0.04876161</xDotU>
<yDotV>-1.26324739</yDotV>
<zDotW>-1.26324739</zDotW>
<kDotP>0</kDotP>
<mDotQ>-0.3346</mDotQ>
<nDotR>-0.3346</nDotR>
<xUabsU>-0.62282</xUabsU>
<xU>-5</xU>
<yVabsV>-60.127</yVabsV>
Expand Down
14 changes: 8 additions & 6 deletions tutorials/files/theory_hydrodynamics/buoyant_cylinder.sdf
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Expand Up @@ -291,6 +291,14 @@
<iyz>0</iyz>
<izz>0.61250000000000006</izz>
</inertia>
<fluid_added_mass>
<xx>0.04876161</xx>
<yy>1.26324739</yy>
<zz>1.26324739</zz>
<pp>0</pp>
<qq>0.3346</qq>
<rr>0.3346</rr>
</fluid_added_mass>
</inertial>

<collision name='collision'>
Expand Down Expand Up @@ -329,12 +337,6 @@
filename="gz-sim-hydrodynamics-system"
name="gz::sim::systems::Hydrodynamics">
<link_name>base_link</link_name>
<xDotU>-0.04876161</xDotU>
<yDotV>-1.26324739</yDotV>
<zDotW>-1.26324739</zDotW>
<kDotP>0</kDotP>
<mDotQ>-0.3346</mDotQ>
<nDotR>-0.3346</nDotR>
<xUabsU>-0.62282</xUabsU>
<xU>-5</xU>
<yVabsV>-60.127</yVabsV>
Expand Down
11 changes: 2 additions & 9 deletions tutorials/files/underwater_vehicles/buoyant_lrauv.sdf
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Expand Up @@ -271,16 +271,10 @@
</plugin>

<!-- Uncomment to add hydrodynamics -->
<!-- <plugin
<plugin
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filename="gz-sim-hydrodynamics-system"
name="gz::sim::systems::Hydrodynamics">
<link_name>base_link</link_name>
<xDotU>-4.876161</xDotU>
<yDotV>-126.324739</yDotV>
<zDotW>-126.324739</zDotW>
<kDotP>0</kDotP>
<mDotQ>-33.46</mDotQ>
<nDotR>-33.46</nDotR>
<xUabsU>-6.2282</xUabsU>
<xU>0</xU>
<yVabsV>-601.27</yVabsV>
Expand All @@ -293,8 +287,7 @@
<mQ>0</mQ>
<nRabsR>-632.698957</nRabsR>
<nR>0</nR>
</plugin> -->

</plugin>
</include>
</model>

Expand Down
25 changes: 25 additions & 0 deletions tutorials/files/underwater_vehicles/my_lrauv/model.sdf
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Expand Up @@ -60,7 +60,32 @@
<iyz>-0.0000000006729</iyz>
<izz>0.0002633558262</izz>
</inertia>
<fluid_added_mass>
<xx>4.876161</xx>
<xy>0.0</xy>
<xz>0.0</xz>
<xp>0.0</xp>
<xq>0.0</xq>
<xr>0.0</xr>
<yy>126.324739</yy>
<yz>0.0</yz>
<yp>0.0</yp>
<yq>0.0</yq>
<yr>0.0</yr>
<zz>126.324739</zz>
<zp>0.0</zp>
<zq>0.0</zq>
<zr>0.0</zr>
<pp>0.1916</pp>
<pq>33.46</pq>
<pr>0.0</pr>
<qq>0.0</qq>
<qr>33.46</qr>
<rr>0.0</rr>
</fluid_added_mass>

</inertial>

<collision name="collision">
<geometry>
<box>
Expand Down
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