Wave Body: use model:// URI to specify BEM file location

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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Wave Body: use model:// URI to specify BEM file location #72

Closed srmainwaring closed 1 year ago

srmainwaring commented 1 year ago

This PR enables Gazebo URI syntax to be used to specify the location of BEM h5 data files in the plugin.

For example:

<plugin
    filename="gz-waves1-linear-wave-body-system"
    name="gz::sim::systems::LinearWaveBody">
  <hdf5_file>models://spheroid_test1a/config/hydrodata/spheroid_f3676.h5</hdf5_file>
  <waves>
    <regular>
      <period>6</period>
      <height>2</height>
      <direction>0</direction>
      <phase>0</phase>
    </regular>
  </waves>
 ...
</plugin>