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srmainwaring / asv_wave_sim

This package contains plugins that support the simulation of waves and surface vessels in Gazebo.
GNU General Public License v3.0
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Waves visable to me but not to sensors? #111

Closed LFS-Robotics closed 1 year ago

LFS-Robotics commented 1 year ago

Hi, I managed to get the waves working and although I was struggling to get a boat model working I just set the collisions to a a box the same size as the lower boat and now its able to move with the waves. I am trying to test sensors such as LiDAR's in the simulation and they work fine and I can see the models that I place on the waves moving. But the waves themself are not showing as visible objects? is there a way to turn them into objects that sensors can see ?

srmainwaring commented 1 year ago

Hi @LFS-Engineering, using range and lidar sensors to sense waves for the legacy versions is discussed in: https://github.com/srmainwaring/asv_wave_sim/issues/64.

In summary: the range and lidar sensors in Gazebo9 / Gazebo11 will not see the waves. In Gazebo Garden they will (there is no code in the plugin that specifically enables this - it's a by product of the Gazebo Garden render engine and the new sensor plugins).

The rendering pipeline changed considerably after Gazebo11, so there is no way to back port this functionality unfortunately.

Figure 1. Lidar returns in Gazebo Garden.

gpu_lidar

arjo129 commented 1 year ago

You can disable waves from showing in LiDAR. See: https://github.com/osrf/mbzirc/pull/111

srmainwaring commented 1 year ago

Thanks @arjo129 - good to know. Closing as I don't think there is further action to take at this stage.