Add surface to buoyant_tethys (#161)

This PR adds a surface at z=0 to the default buoyant_tethy.sdf. Most things work as expected. I had to move the MassShifter test deeper underwater as the vehicle would not pitch enough at the surface (kind of expected I guess?). I moved the mass shifter test deeper underwater. Signed-off-by: Arjo Chakravarty arjo@openrobotics.org
osrf · Mar 2, 2022 · adb15ac · adb15ac
1 parent e48b561
commit adb15ac
Show file tree

Hide file tree

Showing 4 changed files with 385 additions and 5 deletions.
diff --git a/lrauv_ignition_plugins/test/helper/LrauvTestFixture.hh b/lrauv_ignition_plugins/test/helper/LrauvTestFixture.hh
@@ -314,4 +314,14 @@ class LrauvTestFixture : public LrauvTestFixtureBase
     LrauvTestFixtureBase::SetUp("buoyant_tethys.sdf");
   }
 };
+
+/// \brief Loads the default "buoyant_tethys_at_depth.sdf" world.
+class LrauvTestFixtureAtDepth : public LrauvTestFixtureBase
+{
+  /// Documentation inherited
+  protected: void SetUp() override
+  {
+    LrauvTestFixtureBase::SetUp("buoyant_tethys_at_depth.sdf");
+  }
+};
 #endif
diff --git a/lrauv_ignition_plugins/test/test_mass_shifter.cc b/lrauv_ignition_plugins/test/test_mass_shifter.cc
@@ -29,7 +29,7 @@
 #include <fstream>
 
 //////////////////////////////////////////////////
-TEST_F(LrauvTestFixture, MassShifterTilt)
+TEST_F(LrauvTestFixtureAtDepth, MassShifterTilt)
 {
   // Check initial orientation
   this->fixture->Server()->Run(true, 100, false);

diff --git a/lrauv_ignition_plugins/worlds/buoyant_tethys.sdf b/lrauv_ignition_plugins/worlds/buoyant_tethys.sdf
@@ -35,15 +35,15 @@
     <plugin
       filename="ignition-gazebo-buoyancy-system"
       name="ignition::gazebo::systems::Buoyancy">
-      <!-- TODO: fix behaviour near surface, see https://github.com/osrf/lrauv/issues/102
+      <!-- TODO: fix behaviour near surface, see https://github.com/osrf/lrauv/issues/102-->
         <graded_buoyancy>
         <default_density>1025</default_density>
         <density_change>
           <above_depth>0.5</above_depth>
-          <density>1</density>
+          <density>1.125</density>
         </density_change>
-      </graded_buoyancy-->
-      <uniform_fluid_density>1025</uniform_fluid_density>
+      </graded_buoyancy>
+      <!--<uniform_fluid_density>1025</uniform_fluid_density> -->
     </plugin>
 
     <!-- Requires ParticleEmitter2 in ign-gazebo 4.8.0, which will be copied