This PR allows the wave simulation and hydrodynamics plugins to run on Ignition Garden
As part of the migration the code has been significantly reorganised to better reflect the structure used in Ignition. A non-exhaustive list of changes includes:
change the plugin project name to ignition-marine
change the model project name to ignition-marine-models
remove the meta-package project
remove all dependency on ROS
migrate wave visual and model plugins to use ignition systems
migrate hydrodynamics plugin to use ignition systems
update models and world files to work with ignition and redefined plugins
move all CGAL code into a namespace cgal to make it easier to identify
replace the asv namespace with ignition::marine
use OceanTile for all simulation
disable the use of the messaging layer for parameters
This version is using a HlmsPbs material for the Ocean rather than a custom shader. Some progress has been made to port the original shaders to Ignition, but these will follow in a subsequent update. As a result the Ocean looks a little shiny and the textures, refractions and reflections are not as before.
The default setup uses a FFT wave generator with hardcoded inputs. These can be altered manually in:
This PR allows the wave simulation and hydrodynamics plugins to run on Ignition Garden
As part of the migration the code has been significantly reorganised to better reflect the structure used in Ignition. A non-exhaustive list of changes includes:
cgalto make it easier to identifyasvnamespace withignition::marineThis version is using a HlmsPbs material for the Ocean rather than a custom shader. Some progress has been made to port the original shaders to Ignition, but these will follow in a subsequent update. As a result the Ocean looks a little shiny and the textures, refractions and reflections are not as before.
The default setup uses a FFT wave generator with hardcoded inputs. These can be altered manually in:
https://github.com/srmainwaring/asv_wave_sim/blob/f36bf4c5d5907e91ec0f848b977694e598ee94df/ign-marine/src/systems/waves/WavesVisual.cc#L441-L444
and
https://github.com/srmainwaring/asv_wave_sim/blob/f36bf4c5d5907e91ec0f848b977694e598ee94df/ign-marine/src/Wavefield.cc#L77-L80
These should of course be synchronised and available to set in the SDF interface.