Auto generated model. (#89)

* rigid body Signed-off-by: Arjo Chakravarty <[email protected]> * Setting center of mass Signed-off-by: Arjo Chakravarty <[email protected]> * Add drop weights... Leads to oscillation Signed-off-by: Arjo Chakravarty <[email protected]> * shift COM of main body forward craft is now stable. Signed-off-by: Arjo Chakravarty <[email protected]> * Added mass shifter craaazy oscillations are back Signed-off-by: Arjo Chakravarty <[email protected]> * Add description generator script Signed-off-by: Arjo Chakravarty <[email protected]> * Automate pipeline Signed-off-by: Arjo Chakravarty <[email protected]> * we are generating a new sdf Signed-off-by: Arjo Chakravarty <[email protected]> * Add unit test framework Signed-off-by: Arjo Chakravarty <[email protected]> * Add hydrostatics test Signed-off-by: Arjo Chakravarty <[email protected]> * remove model Signed-off-by: Arjo Chakravarty <[email protected]> * make fast Signed-off-by: Arjo Chakravarty <[email protected]> * stop debug printouts Signed-off-by: Arjo Chakravarty <[email protected]> * Add second test WIP Signed-off-by: Arjo Chakravarty <[email protected]> * fix compile issue Signed-off-by: Arjo Chakravarty <[email protected]> * fix CMake file Signed-off-by: Arjo Chakravarty <[email protected]> * Add joint controllers Signed-off-by: Arjo Chakravarty <[email protected]> * Stable fins Signed-off-by: Arjo Chakravarty <[email protected]> * remove ignition for now its not needed Signed-off-by: Arjo Chakravarty <[email protected]> * Stavle thruster Signed-off-by: Arjo Chakravarty <[email protected]> * update plugin list Signed-off-by: Arjo Chakravarty <[email protected]> * better constraints Signed-off-by: Arjo Chakravarty <[email protected]> * Add Buoyancy Engine Signed-off-by: Arjo Chakravarty <[email protected]> * Add buoyancy engine Signed-off-by: Arjo Chakravarty <[email protected]> * Add newline at EOF Signed-off-by: Arjo Chakravarty <[email protected]> * Undo changes in tethys_equipped. Signed-off-by: Arjo Chakravarty <[email protected]> * Update expectation Signed-off-by: Arjo Chakravarty <[email protected]> * white space correction Signed-off-by: Arjo Chakravarty <[email protected]> * tag images to use recent fortress release Signed-off-by: Arjo Chakravarty <[email protected]> * Add numpy as a dependency Signed-off-by: Arjo Chakravarty <[email protected]> * formatting Signed-off-by: Arjo Chakravarty <[email protected]> * better debug Signed-off-by: Arjo Chakravarty <[email protected]> * bump garden Signed-off-by: Arjo Chakravarty <[email protected]> * Update lrauv_description/test/test_hydrostatic_stability.cc Co-authored-by: Louise Poubel <[email protected]> * Update lrauv_description/test/test_hydrostatic_stability.cc Co-authored-by: Louise Poubel <[email protected]> * change location of python3-numpy Signed-off-by: Arjo Chakravarty <[email protected]> * rename worlds Signed-off-by: Arjo Chakravarty <[email protected]> * Address @mabelzhang's points Signed-off-by: Arjo Chakravarty <[email protected]> * update hytdrostatics test Signed-off-by: Arjo Chakravarty <[email protected]> * Fix coilision volumes. Signed-off-by: Arjo Chakravarty <[email protected]> * remove gravity. tag Signed-off-by: Arjo Chakravarty <[email protected]> * style fix Signed-off-by: Arjo Chakravarty <[email protected]> * loosen tolerances, the vehicle is oscillating more Signed-off-by: Louise Poubel <[email protected]> Co-authored-by: Louise Poubel <[email protected]>
osrf · Jan 6, 2022 · 41b2419 · 41b2419
1 parent 62c63a0
commit 41b2419
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diff --git a/docker/debug_integration/Dockerfile b/docker/debug_integration/Dockerfile
@@ -37,7 +37,8 @@ RUN apt-get update \
         gnupg2 \
         lsb-release \
         tzdata \
-        wget
+        wget \
+        python3-numpy
 
 # Add Ignition's latest packages, which may be more up-to-date than the ones from the MBARI image
 RUN /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' && \

diff --git a/docker/empty_world/Dockerfile b/docker/empty_world/Dockerfile
@@ -48,6 +48,7 @@ RUN apt-get update \
         software-properties-common \
         sudo \
         vim \
+        python3-numpy
  && apt-get clean
 
 # setup timezone

diff --git a/docker/tests/Dockerfile b/docker/tests/Dockerfile
@@ -37,7 +37,8 @@ RUN apt-get update \
         gnupg2 \
         lsb-release \
         tzdata \
-        wget
+        wget \
+        python3-numpy
 
 # Add Ignition's latest packages, which may be more up-to-date than the ones from the MBARI image
 RUN /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' && \

diff --git a/lrauv_description/CMakeLists.txt b/lrauv_description/CMakeLists.txt
@@ -7,12 +7,70 @@ cmake_minimum_required(VERSION 3.5)
 
 project(lrauv_description)
 
+
+#============================================================================
+# Hooks
 configure_file(
   "hooks/hook.dsv.in"
   "${CMAKE_CURRENT_BINARY_DIR}/hooks/hook.dsv" @ONLY
 )
 
+#============================================================================
+# Model Generation
+add_custom_command(
+  OUTPUT modelsdf
+  COMMAND python3 ${CMAKE_CURRENT_SOURCE_DIR}/scripts/description_generator.py
+  ${CMAKE_CURRENT_SOURCE_DIR}/models/tethys/model.sdf.in
+  ${CMAKE_CURRENT_BINARY_DIR}/models/tethys/model.sdf
+)
+
+add_custom_target(generate_model ALL
+  DEPENDS modelsdf
+)
+
 install(DIRECTORY
   models
   ${CMAKE_CURRENT_BINARY_DIR}/hooks
   DESTINATION share/${PROJECT_NAME})
+
+install(FILES
+  ${CMAKE_CURRENT_BINARY_DIR}/models/tethys/model.sdf
+  DESTINATION share/${PROJECT_NAME}/models/tethys
+)
+
+#============================================================================
+# Tests
+if(BUILD_TESTING)
+
+  find_package(ignition-gazebo7 REQUIRED)
+  set(IGN_GAZEBO_VER ${ignition-gazebo7_VERSION_MAJOR})
+
+  # Fetch and configure GTest
+  include(FetchContent)
+  FetchContent_Declare(
+    googletest
+    URL https://github.com/google/googletest/archive/609281088cfefc76f9d0ce82e1ff6c30cc3591e5.zip
+  )
+  set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
+  FetchContent_MakeAvailable(googletest)
+
+  enable_testing()
+  include(Dart)
+
+  # Build-time constants
+  set("PROJECT_BINARY_PATH" ${CMAKE_CURRENT_BINARY_DIR})
+  set("PROJECT_SOURCE_PATH" ${CMAKE_CURRENT_SOURCE_DIR})
+  configure_file(test/helper/TestConstants.hh.in TestConstants.hh @ONLY)
+
+  include(GoogleTest)
+
+  add_executable(test_hydrostatic_stability test/test_hydrostatic_stability.cc)
+  target_include_directories(test_hydrostatic_stability
+    PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+  target_link_libraries(test_hydrostatic_stability
+    PUBLIC gtest_main
+    PRIVATE ignition-gazebo${IGN_GAZEBO_VER}::ignition-gazebo${IGN_GAZEBO_VER}
+  )
+
+  gtest_discover_tests(test_hydrostatic_stability)
+endif()
diff --git a/lrauv_description/models/tethys/model.sdf → lrauv_description/models/tethys/model.sdf.in b/lrauv_description/models/tethys/model.sdf → lrauv_description/models/tethys/model.sdf.in
@@ -9,36 +9,24 @@
     <link name="base_link">
       <inertial>
         <!-- to offset battery CoM before getting real parameters for vehicle without battery -->
-        <!--pose>0 0.0236 0 0 0 0</pose-->
+        <pose>@calculated</pose>
         <!-- 146.5671 subtracted by battery mass -->
-        <mass>114.8364</mass>
+        <mass>@calculated</mass>
+        <!--<mass>146.5671</mass>-->
         <!-- TODO: Get inertial matrix of base link WITHOUT battery -->
         <inertia>
-          <!--ixx>3.000000</ixx>
+          <ixx>3.000000</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
           <iyy>41.980233</iyy>
           <iyz>0</iyz>
-          <izz>41.980233</izz-->
-
-          <!-- Guesstimated (decreased by 1/5) to account for battery -->
-          <ixx>2.4</ixx>
-          <ixy>0</ixy>
-          <ixz>0.0004</ixz>
-          <iyy>33.5841864</iyy>
-          <iyz>0</iyz>
-          <izz>33.5841864</izz>
+          <izz>41.980233</izz>
 
         </inertia>
       </inertial>
 
       <collision name="main_body_buoyancy">
-        <pose>0 0 0.007 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>2 0.3 0.245945166667</size>
-          </box>
-        </geometry>
+        @calculated
       </collision>
 
       <visual name="visual">
@@ -75,7 +63,6 @@
     <link name="horizontal_fins">
       <pose>1.05 0 0 0 0 0</pose>
       <inertial>
-        <pose>0 0 0 1.57 0 0.5</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.0007924568755</ixx>
@@ -87,12 +74,8 @@
         </inertia>
       </inertial>
 
-      <collision name="collision">
-        <geometry>
-          <box>
-            <size>0.1 0.1 0.02</size>
-          </box>
-        </geometry>
+      <collision name="horizontal_fins_buoyancy">
+        @neutral_buoyancy
       </collision>
 
       <visual name= "visual">
@@ -141,12 +124,8 @@
         </inertia>
       </inertial>
 
-      <collision name="collision">
-         <geometry>
-          <box>
-            <size>0.1 0.1 0.02</size>
-          </box>
-        </geometry>
+      <collision name="vertical_fin_buoyancy">
+        @neutral_buoyancy
       </collision>
 
       <visual name= "visual">
@@ -196,12 +175,8 @@
         </inertia>
       </inertial>
 
-      <collision name="collision">
-        <geometry>
-          <box>
-            <size>0.03 0.1 0.03</size>
-          </box>
-        </geometry>
+      <collision name="propeller_buoyancy">
+        @neutral_buoyancy
       </collision>
 
       <visual name= "visual">
@@ -239,11 +214,11 @@
     <!-- No separate collision for battery, because it is inside the vehicle.
          Additional collision requires buoyancy volume recalculation. -->
     <link name="battery">
-      <!-- TODO: On hold till mesh center adjusted to aft dome, then it will be 0.563, 0, 0.024. -->
-      <pose>0 0 0 0 0 0</pose>
+      <!--TODO: On hold till mesh center adjusted to aft dome, then it will be 0.563, 0, 0.024.-->
+
       <inertial>
         <!-- Non-zero y creates roll. Not fun to tune without actual base link inertia minus battery-->
-        <!--pose>0 -0.0236 0 0 0 0</pose-->
+        <pose>-0.563 0 0 0 0 0</pose>
         <mass>31.7307</mass>
         <inertia>
           <ixx>0.2327</ixx>
@@ -258,7 +233,6 @@
       <visual name= "visual">
         <geometry>
           <box>
-            <!-- z is guesstimated from schematics. Visual doesn't matter. -->
             <size>0.6489446 0.24638 0.17415</size>
           </box>
         </geometry>
@@ -271,7 +245,7 @@
 
     <link name="buoyancy_engine">
       <!-- TODO: Determine location of buoyancy engine -->
-      <pose>0.4 0 0 0 0 0</pose>
+      <pose>0.137 0 0 0 0 0</pose>
 
       <!-- TODO: Remove inertial and collision
 
@@ -297,12 +271,8 @@
           <izz>0.000033571862</izz>
         </inertia>
       </inertial>
-      <collision name="collision">
-        <geometry>
-          <box>
-            <size>0.03 0.1 0.1</size>
-          </box>
-        </geometry>
+      <collision name="buoyancy_engine">
+        @neutral_buoyancy
       </collision>
     </link>
 
@@ -342,7 +312,7 @@
         </limit>
       </axis>
     </joint>
-
+    
     <joint name="propeller_joint" type="revolute">
       <pose degrees="true">0 0 0   0 180 0</pose>
       <parent>base_link</parent>
@@ -376,20 +346,15 @@
 
     <!-- Drop weight -->
     <link name="drop_weight">
-      <pose>0 0 0 0 0 0</pose>
+      <pose>0.128 0 0 0 0 0</pose>
       <inertial>
-        <pose>0 0 0 0 0 0</pose>
         <mass>1</mass>
         <inertia>
           <ixx>0.000143971303</ixx>
-          <ixy>0.000000000008</ixy>
-          <ixz>-0.000000000224</ixz>
           <iyy>0.000140915448</iyy>
-          <iyz>-0.000025236433</iyz>
           <izz>0.000033571862</izz>
         </inertia>
       </inertial>
     </link>
-
   </model>
 </sdf>