ASV Wave Simulator

This package contains plugins that support the simulation of waves and surface vessels in Gazebo.

Dependencies

You will need a working installation of ROS and Gazebo in order to use this package.

Ubuntu

Ubuntu 18.04
ROS Melodic Morenia
Gazebo version 9.0.0

Install CGAL 4.13 libraries:

sudo apt-get install libcgal-dev

macOS

OSX 10.11.6
ROS Melodic Morenia
Gazebo version 9.6.0

Install CGAL 4.13 libraries:

brew install cgal

Installation

Create and configure a workspace

Source your ROS installation:

source /opt/ros/melodic/setup.bash
source /usr/local/share/gazebo-9/setup.bash

Create a catkin workspace:

mkdir -p asv_ws/src
cd asv_ws
catkin init

Configure catkin:

catkin config --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo

Clone and build the package

Clone the asv_wave_sim repository:

cd src
git clone https://github.com/srmainwaring/asv_wave_sim.git

Compile the packages:

catkin build

or with tests:

catkin build --catkin-make-args run_tests

Usage

The wiki has details about how to configure and use the plugins:

Tests

Manually run the tests:

./devel/lib/asv_wave_sim_gazebo_plugins/UNIT_Algorithm_TEST
./devel/lib/asv_wave_sim_gazebo_plugins/UNIT_Geometry_TEST
./devel/lib/asv_wave_sim_gazebo_plugins/UNIT_Grid_TEST
./devel/lib/asv_wave_sim_gazebo_plugins/UNIT_Physics_TEST
./devel/lib/asv_wave_sim_gazebo_plugins/UNIT_Wavefield_TEST

Examples

Launch a Gazebo session with roslaunch:

roslaunch asv_wave_gazebo ocean_world.launch verbose:=true

Publish a wave parameters message:

./devel/lib/asv_wave_sim_gazebo_plugins/WaveMsgPublisher \
  --number 3 \
  --amplitude 1 \
  --period 7 \
  --direction 1 1 \
  --scale 2 \
  --angle 1 \
  --steepness 1

Publish a hydrodynamics parameters message:

./devel/lib/asv_wave_sim_gazebo_plugins/HydrodynamicsMsgPublisher \
  --model box \
  --damping_on true \
  --viscous_drag_on true \
  --pressure_drag_on false \
  --cDampL1 10 \
  --cDampL2 1 \
  --cDampR1 10 \
  --cDampR2 1

For more detail see the Example page in the wiki.

Build Status

Develop Job Status

	Melodic
asv_wave_sim

Release Job Status

	Melodic
asv_wave_sim

License

This is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This software is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

This project makes use of other open source software, for full details see the file LICENSE_THIRDPARTY.

Acknowledgments

Jacques Kerner's two part blog describing boat physics for games: Water interaction model for boats in video games and Water interaction model for boats in video games: Part 2.
The CGAL libraries are used for the wave field and model meshes.
The UUV Simulator package for the orginal vertex shaders used in the wave field visuals.
The VMRC package for textures and meshes used in the wave field visuals.

wghou/asv_wave_sim