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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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GZ Sim getting aborted automatically when gz-waves1-waves-models component is added #170

Open adarsha-s-bharadwaj opened 1 month ago

adarsha-s-bharadwaj commented 1 month ago

Hi, I successfully installed asv_wave_sim in ROS2 Humble Ubuntu 22.04 and it is working. But whenever I try to add the new component in gazebo sim (gz-waves1-waves-models), it is crashing or directly getting aborted. I am not getting the reason on why it's getting aborted. My PC specs is i7 12th gen 16gb ram 1TB SS.

Screenshot from 2024-07-30 18-28-32 Screenshot from 2024-07-30 18-27-31

srmainwaring commented 1 month ago

Possibly related to https://github.com/srmainwaring/asv_wave_sim/issues/168

adarsha-s-bharadwaj commented 1 month ago

ok I will look through it. I'm new to the boat environment and want to control the wam-v boat using keyboard, can you please tell me how to do it and how did you use ardupilot for control? any tutorial will help me.

srmainwaring commented 1 month ago

I'm new to the boat environment and want to control the wam-v boat using keyboard, can you please tell me how to do it and how did you use ardupilot for control? any tutorial will help me.

This user guide for the BlueBoat may help setting up ArduPilot for control. The WAM-V is similar, but uses vectored thrust motors: https://github.com/ArduPilot/SITL_Models/blob/master/Gazebo/docs/BlueBoat.md

adarsha-s-bharadwaj commented 1 month ago

Ok i will look through it. I am trying to use ocean waves or trochoid waves to check about buoyancy in waves_wind.sdf file or to run mumbles_head.sdf file, but when it runs, gazebo sim7 (gazebo garden) is directly getting aborted.

Screenshot from 2024-08-06 10-27-19

If this is not working, can you please tell me which type of wave should I use in gazebo sim to know about buoyancy and all? or how to solve this issue? and I was going through other issue pages and saw your comment on set true , can you please tell in which file (like sdf or something) should I put this water_patch true so that I will get that grid or something in gazebo sim 7? And also can I use this project using gazebo sim 8 (gazebo fortress) instead of gazebo sim7? and How to add buoyancy to the wam-v boat? is there any plugin?