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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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Questions about the effect of buoyancy on the water surface #138

Closed gaya7502 closed 1 year ago

gaya7502 commented 1 year ago

Hello, I have used your plug-in, but when I set the coordinate z of the ocean model to -25, the objects I placed (like boxes) will still float on the original horizontal plane. How can I adjust the position of the horizontal?

srmainwaring commented 1 year ago

Hello @gaya7502, there is currently an assumption that the wave model will be anchored at the origin:

https://github.com/srmainwaring/asv_wave_sim/blob/b3eac206e3a73e4b41010278bba59f29452fed12/gz-waves/src/Wavefield.cc#L92-L96

This could be relaxed but would need some work to propagate the pose of the tile wrt the world frame.

gaya7502 commented 1 year ago

Sorry, I think I may not have made it clear, the plugin version I am currently using is Wave Sim gazebo 9, and the content of Wavefield is not consistent with what you describe.

srmainwaring commented 1 year ago

I see, you're using branch gazeb9.

The cause however is similar (although the comments are not so clear about the assumptions):

https://github.com/srmainwaring/asv_wave_sim/blob/fef63188f5c8d18da00bd704cc4c07c1831563c2/asv_wave_sim_gazebo_plugins/src/Wavefield.cc#L802-L826

srmainwaring commented 1 year ago

I've made a note to address this in #140, but that will only be for Gazebo Garden. The branches for Gazebo 9 and 11 are retained for legacy use but are no longer being updated.