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IOES-Lab / dave

Project DAVE
Apache License 2.0
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[GSOC-52] Migration of Slocum Glider #8

Closed rakeshv24 closed 4 months ago

rakeshv24 commented 4 months ago

This PR introduces the migration of Slocum glider model. The following changes have been made:

  1. Removed all uuv_simulator plugins.
  2. Converted xacro and urdf model files to sdf.
  3. Added buoyancy, hydrodynamics, thruster, battery, joint_state_publisher, imu, and odometry plugins.
  4. Tested in dave_ocean_waves.world.

Notes:

  1. The added mass values for the model do not seem correct and cause the simulation to crash. Therefore, we have used nil values in their place for the hydrodynamics plugin.
  2. Rebasing is required after [GSOC-62] Added buoyancy plugin to the world files is merged with ros2 branch.
rakeshv24 commented 4 months ago

@hmoyen, @GauravKumar9920, @abhimanyubhowmik can you pull this branch and try examples 3 and 4 mentioned here?

hmoyen commented 4 months ago

Looks fine to me as well :)

woensug-choi commented 4 months ago

@rakeshv24 Added a initial position mod to have the glider in the scene bit longer. All look good to me too!

rakeshv24 commented 4 months ago

Awesome!

rakeshv24 commented 4 months ago

@woensug-choi I'll merge this after rebasing it with the other PR I opened.