gz-sim: Create a surface vehicle

[azeey-test]

Configuration

• os: Ubuntu Noble

Links

• Live
• Source

Process

Step 1 - Instructions work

Step 2 - Images (if there are any) match the result

[jc-sz]

interested

[Mechazo11]

• Test enviornment

  
  CPU: Ryzen 5 5600x, Ram: 32GB @ 3200 Mhz, GPU: RTX 3080
  Clean copy of Ubuntu 24.04 Humble
  ROS 2 Jazzy Jalisco Full Deskptop 

• Summary

  • Will not build without updating dependencies in CmakeLists.txt file. After build, WAM-V vehicle can be spawned without hydrodynamics. When activating hydrodynamics, undefined symbol libSurface.so fatal error occurs and a depreciation warning is seen.

• Issues

  • gazebo_maritime package Cmake referrs to last major version of gazebo. All related packages needs to point to the current build.
  • Surface plugin may be missing from the Ionic build

    gz sim server: symbol lookup error: /home/az-ubuntu-2204/gazebo_maritime_ws/install/lib/libSurface.so: undefined symbol: _ZN8maritime9Wavefield18ComputeDepthSimplyERKN2gz4math2v87Vector3IdEEdd

• Fixes

  • Opened a new public repo gazebo_ionic_surface_vehicle for making a tutorial a bit easy to follow and debug. Current version can build project in Ionic and may spawn the WAM-V vehicle.

• Comments/Suggestions

  • Simplifying steps of the tutorial and separating more technical discussion to another markdown file

[ahcorde]

@Mechazo11 do you mind to open a PR updating the information ?

[Mechazo11]

@ahcorde will do.