[Simulation] Wind and Sailboat simulation

[srmainwaring]

@arjo129 I may be able to help out here. I have a basic sailboat simulation running on Gazebo11 with ROS integration (there is an ArduPilot controller version as well). I plan to revisit this project and migrate it to Gazebo Sim (Garden). The ROS coupling can probably be removed - which gives people the option to control using either ROS or ArduPilot (or both, or something else).

https://github.com/srmainwaring/rs750 https://github.com/srmainwaring/sail_sim_docker

In addition to the sea surface, buoyancy and hydrodynamics the following plugins are provided:

• updated lift-drag that accounts for fluid speed and direction. variants for sails and foils (keel and rudder mainly).
• anemometer sensor - needed for automatic sail control when running the ArduPilot Rover (sailboat class) controller. Will run autonomously with waypoint navigation if set up correctly.

https://user-images.githubusercontent.com/24916364/169658658-d6ac4f50-b577-46b4-bb01-92d305915e71.mp4

[arjo129]

@srmainwaring this is awesome! I've been following your work to port waves to ignition as well.

[srmainwaring]

Hi @arjo129, been a while but have finally finished porting all the pieces of the sailing robot to Gazebo Garden.

The example yacht and dependencies are in https://github.com/srmainwaring/rs750. All the ROS dependency has been removed and the yacht is controlled using ArduPilot.

https://user-images.githubusercontent.com/24916364/226199127-7599639e-5323-4ef3-8c1c-929083beb099.mov