Adds range bearing and acoustics comms systems to tethys_equipped. (#131

) Signed-off-by: Arjo Chakravarty <[email protected]>
osrf · Nov 2, 2021 · 9bbbf5f · 9bbbf5f
1 parent 47b5f81
commit 9bbbf5f
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Showing 2 changed files with 36 additions and 0 deletions.
diff --git a/lrauv_description/models/tethys_equipped/model.sdf b/lrauv_description/models/tethys_equipped/model.sdf
@@ -185,6 +185,28 @@
         <child_link>drop_weight</child_link>
         <topic>/model/tethys/drop_weight</topic>
       </plugin>
+
+      <plugin
+        filename="AcousticCommsPlugin"
+        name="tethys::AcousticCommsPlugin">
+        <address>1</address>
+        <model_plugin_file>simpleacousticmodel</model_plugin_file>
+        <model_name>tethys::SimpleAcousticModel</model_name>
+        <link_name>base_link</link_name>
+        <max_range>2500</max_range>
+        <speed_of_sound>1500</speed_of_sound>
+      </plugin>
+
+      <plugin
+        filename="RangeBearingPlugin"
+        name="tethys::RangeBearingPlugin">
+        <address>1</address>
+        <processing_delay>0.3</processing_delay>
+        <speed_of_sound>1500</speed_of_sound>
+        <link_name>base_link</link_name>
+        <namespace>tethys</namespace>
+      </plugin>
+
     </include>
   </model>
 </sdf>
diff --git a/lrauv_ignition_plugins/worlds/multi_lrauv.sdf b/lrauv_ignition_plugins/worlds/multi_lrauv.sdf
@@ -137,6 +137,13 @@
         <plugin element_id="ignition::gazebo::systems::DetachableJoint" action="modify">
           <topic>/model/triton/drop_weight</topic>
         </plugin>
+        <plugin element_id="tethys::AcousticCommsPlugin" action="modify">
+          <address>2</address>
+        </plugin>
+        <plugin element_id="tethys::RangeBearingPlugin" action="modify">
+          <address>2</address>
+          <namespace>triton</namespace>
+        </plugin>
       </experimental:params>
 
     </include>
@@ -173,6 +180,13 @@
         <plugin element_id="ignition::gazebo::systems::DetachableJoint" action="modify">
           <topic>/model/daphne/drop_weight</topic>
         </plugin>
+        <plugin element_id="tethys::AcousticCommsPlugin" action="modify">
+          <address>3</address>
+        </plugin>
+        <plugin element_id="tethys::RangeBearingPlugin" action="modify">
+          <address>3</address>
+          <namespace>daphne</namespace>
+        </plugin>
       </experimental:params>
 
     </include>