Created a private instance of the WindSensor class in the physics engine node.
Added a new private method: __update_wind_sensor(). This method updates the wind attribute of the WindSensor instance using the wind generator (self.__wind_generator).
Integrated __update_wind_sensor() call right before self.__update_boat_state() in the __publish() function.
Modified the self.__update_boat_state() method to use data from the WindSensor instead of the wind generator, introducing realistic noise into the simulation.
WindSensorclass in the physics engine node.__update_wind_sensor(). This method updates thewindattribute of theWindSensorinstance using the wind generator (self.__wind_generator).__update_wind_sensor()call right beforeself.__update_boat_state()in the__publish()function.self.__update_boat_state()method to use data from theWindSensorinstead of the wind generator, introducing realistic noise into the simulation.