Describe the bug
I am trying to make adjustments to the wavefield to test some things about the dynamics of my vessel. Adjustments I try to make are expanding the waves and reducing or increasing the size of the wavefield.
To turn off the waves I set the gain and amplitude to 0 in the sydney_regatta.sdf, see first image below. This results in the vessel no longer moving up and down as expected, but the visuals of the waves are not stopped.
I'm trying to change the size of the wavefield by adding a 'size' parameter to the sydney_regatta.sdf, see first image below. The design of this is based on how this is read by the Wavefield.cc file: {params["size"].vector3d_value().x(), params["size"].vector3d_value().y()}.
The adjusted values are also published correctly to the /vrx/wavefield/parameters topic as shown in the second image.
To Reproduce
List the steps to reproduce the problem:
Modify sydney_regatta.sdf according to the image above.
Build, source and run the environment as you are used to:
colcon build --merge-install
source install/setup.bash
ros2 launch ros2 launch vrx_gz competition.launch.py
Check the changes:
Use to component inspector in gazebo to check if the pose of the vessel is stationary in the z direction.
Use the visuals in gazebo to check if the waves are not moving up and down anymore.
Use the visuals in gazebo to check if the size of the entire wavefield changed accordingly.
Describe the bug I am trying to make adjustments to the wavefield to test some things about the dynamics of my vessel. Adjustments I try to make are expanding the waves and reducing or increasing the size of the wavefield. To turn off the waves I set the gain and amplitude to 0 in the sydney_regatta.sdf, see first image below. This results in the vessel no longer moving up and down as expected, but the visuals of the waves are not stopped. I'm trying to change the size of the wavefield by adding a 'size' parameter to the sydney_regatta.sdf, see first image below. The design of this is based on how this is read by the Wavefield.cc file: {params["size"].vector3d_value().x(), params["size"].vector3d_value().y()}. The adjusted values are also published correctly to the /vrx/wavefield/parameters topic as shown in the second image.
To Reproduce List the steps to reproduce the problem:
System Configuration: Tell us about your system.
Screenshots
