[Simulation] Multibeam Sonar in Gazebo

[mabelzhang]

How is this ticket different from the multibeam sonar simulated in DAVE? Is this ticket talking about Gazebo Garden+? We should work with Woensug because that sonar simulation is the state of the art. He's interested in porting to Gazebo Garden+ (when funding is available I think, or to help someone do it possibly).

[woensug-choi]

Yes I am. What is my target here?

[mabelzhang]

You'll probably want to look at the gz-sim repo https://github.com/gazebosim/gz-sim/tree/gz-sim8 gz-sim8 is the stable Harmonic branch to be released in a couple of weeks. main is the latest development branch. If a new feature goes to main, it will be released in Gazeob Ionic. If it goes to gz-sim8, the development team aperiodically forward-ports things to versions newer than Harmonic.

Look in gz-sim/src/systems, where all the system plugins are. Arjo's DVL here https://github.com/gazebosim/gz-sim/tree/gz-sim8/src/systems/dvl An optical sensor here https://github.com/gazebosim/gz-sim/tree/gz-sim8/src/systems/optical_tactile_plugin Here's a tutorial on how to write system plugins https://gazebosim.org/api/sim/8/createsystemplugins.html (I literally just came from a meeting where I learned that that tutorial needs updating https://github.com/gazebosim/gz-sim/issues/2072 )

If the sonar needs to do something complex or modify infrastructure, you may need to touch gz-physics or gz-rendering. gz-sim is the top-level entrypoint library that depends on all those libraries.

GazeboSim documentation https://gazebosim.org/docs gz-sim tutorials https://gazebosim.org/api/sim/8/tutorials.html (we are improving these as we speak!) We just added 2 tutorials for ROS 2 and new Gazebo integration: https://gazebosim.org/docs/harmonic/ros2_gazebo_integration_tutorial https://gazebosim.org/docs/harmonic/ros_gz_project_template_guide

Let me know if you want specific pointers!

[woensug-choi]

@mabelzhang the official gazebo documentation definately needs some update. I've asked a student here to follow and install new gazebo but failed to do so. Thank you for the details!

[mabelzhang]

Really? Installation instructions we update very regularly, because those are the most important. In fact, we've just finished 2 weeks of tutorial party prior to Harmonic release, and the community has tested many of the tutorials.

Was this on Ubuntu? That is the recommended platform. Windows and Mac are experimental. We know for a fact that things don't work well on them.

Ubuntu binary install https://gazebosim.org/docs/harmonic/install_ubuntu Ubuntu source install https://gazebosim.org/docs/harmonic/install_ubuntu_src Harmonic is prerelease right now, to be officially released in 2 weeks, so things are still moving around at the moment. They can try Garden.