Upgrade project to Gazebo Garden part 1 - Githubissues

srmainwaring / asv_sim

This package contains plugins and models for the simulation of surface vessels in Gazebo.

GNU General Public License v3.0

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Upgrade project to Gazebo Garden part 1 #10

Closed srmainwaring closed 1 year ago

srmainwaring commented 1 year ago

This PR upgrades the plugins from Gazebo11 to Gazebo Garden (gz-sim7).

Closes #9

Tasks

[x] Create legacy branch for gazebo11.
[x] Add GHW for CI build and static checks.
[x] Update existing code to pass static checks.
[x] Remove ROS dependencies.
[x] Update core lib for LiftDrag plugin.
[x] Enable tests.
[x] Update SailPlugin.
[x] Update FoilPlugin.
[x] Update Utilities.

Tasks deferred to part 2

Update message bindings.
Update Anemometer sensor.
Update anemometer example world.

Details

Migrating from Gazebo 11 to Gazebo Garden requires major changes to the plugin interfaces. The library has been restructured along similar lines to asv_wave_sim.
The anemometer sensor is disabled in this version. The sail and foil lift-drag plugins are migrated.
The wing sail models in land_yacht demonstrate the new plugins.

Figure: Fixed and rotating wing sail models using the upgraded lift-drag plugins running in Gazebo Garden.

wing-sail-lift-drag