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RoboBoat01 reference model #758

Merged
merged 11 commits into from
Dec 20, 2023
Merged

RoboBoat01 reference model #758

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bfa4550
Prelimiary roboboat models.
caguero Aug 17, 2023
7fedb62
Updated meshes and collisions.
caguero Aug 22, 2023
fe98bf1
New textures.
caguero Sep 5, 2023
da86045
Thruster textures.
caguero Sep 19, 2023
2129f32
CPU boxes.
caguero Sep 19, 2023
d518baf
Updated texture.
caguero Sep 22, 2023
2dc990f
Adding plugins.
caguero Dec 17, 2023
5a0b218
Merge from main
caguero Dec 17, 2023
6a6e33f
Remove roboboat02 and roboboat_thruster.
caguero Dec 17, 2023
cbc2c82
Tweak
caguero Dec 17, 2023
1fdb303
Remove colliders.sdf
caguero Dec 17, 2023
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Tweak 
Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
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@caguero
caguero committed Dec 17, 2023
commit cbc2c827676dddbedd03f747d3eb1aebbae29387
7 changes: 3 additions & 4 deletions vrx_gz/src/Surface.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -210,18 +210,17 @@ void Surface::PreUpdate(const sim::UpdateInfo &_info,
if (_info.paused)
return;

sim::enableComponent<sim::components::WorldPose>(
_ecm, this->dataPtr->link.Entity(), true);

// Vehicle frame transform.
const auto kPose = this->dataPtr->link.WorldPose(_ecm);
if (!kPose)
{
sim::enableComponent<sim::components::WorldPose>(
_ecm, this->dataPtr->link.Entity(), true);

gzerr << "Unable to get world pose from link ["
<< this->dataPtr->link.Entity() << "]" << std::endl;
return;
}

const math::Vector3d kEuler = (*kPose).Rot().Euler();
math::Quaternion vq(kEuler.X(), kEuler.Y(), kEuler.Z());

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29 changes: 1 addition & 28 deletions vrx_gz/worlds/sydney_regatta.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -512,33 +512,6 @@
</plugin>
</include>

<!-- RoboBoat 01 -->
<include>
<name>roboboat01</name>
<pose>-528 184 0 0 0 0</pose>
<uri>roboboat01</uri>
</include>

<!-- RoboBoat 02 -->
<!-- <include>
<name>roboboat02</name>
<pose>-528 180 0 0 0 0</pose>
<uri>roboboat02</uri>
</include> -->

<!-- RoboBoat thruster -->
<!-- <include>
<name>roboboat_thruster</name>
<pose>-528 176 0 0 0 0</pose>
<uri>roboboat_thruster</uri>
</include> -->

<!-- <include>
<name>wam-v2</name>
<pose>-528 172 0 0 0 0</pose>
<uri>https://fuel.gazebosim.org/1.0/openrobotics/models/wam-v</uri>
</include> -->

<!-- The posts for securing the WAM-V -->
<include>
<name>post_0</name>
Expand Down Expand Up @@ -642,7 +615,7 @@
key: "gain"
value {
type: DOUBLE
double_value: 0.1
double_value: 0.3
}
}
params {
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