From f12e55368f3ce70ef8400015c5e83d90fc1e1d01 Mon Sep 17 00:00:00 2001 From: Arjo Chakravarty Date: Mon, 28 Feb 2022 14:20:58 +0800 Subject: [PATCH] Add surface to buoyant_tethys Depends on #160 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 under water. Signed-off-by: Arjo Chakravarty --- .../test/helper/LrauvTestFixture.hh | 10 + .../test/test_mass_shifter.cc | 2 +- .../worlds/buoyant_tethys.sdf | 8 +- .../worlds/buoyant_tethys_at_depth.sdf | 365 ++++++++++++++++++ 4 files changed, 380 insertions(+), 5 deletions(-) create mode 100644 lrauv_ignition_plugins/worlds/buoyant_tethys_at_depth.sdf diff --git a/lrauv_ignition_plugins/test/helper/LrauvTestFixture.hh b/lrauv_ignition_plugins/test/helper/LrauvTestFixture.hh index 1b8ffb0e..f9ded1fa 100644 --- 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 "buyant_tethys.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 index 79d76f02..e2dab0a8 100644 --- a/lrauv_ignition_plugins/test/test_mass_shifter.cc +++ b/lrauv_ignition_plugins/test/test_mass_shifter.cc @@ -29,7 +29,7 @@ #include ////////////////////////////////////////////////// -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 index d780458a..3d2f83ec 100644 --- a/lrauv_ignition_plugins/worlds/buoyant_tethys.sdf +++ b/lrauv_ignition_plugins/worlds/buoyant_tethys.sdf @@ -35,15 +35,15 @@ - 1025 0.5 - 1 + 0 - - 1025 + + + + + + + 0.0 1.0 1.0 + + + 0.0 0.7 0.8 + + false + + + + 0.02 + 0 + + + + + + + + + + + + 1025 + + 0.5 + 0 + + + + + + + + + + + + + + EARTH_WGS84 + ENU + + + 35.5999984741211 + -121.779998779297 + + + + + + + + 0 + 0 + + + 2003080103_mb_l3_las.csv + + + + + + + + + + 3D View + false + docked + + + ogre2 + scene + 0.4 0.4 0.4 + 0.8 0.8 0.8 + + 4.5 0 4 0 0.45 3.14 + + + + + + 0.1 + + 3000000 + + + + + + + floating + 5 + 5 + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + false + + + + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + Plot Tethys 3D path + docked_collapsed + + tethys + 0 0 1 + 10000 + 0.5 + + + + Inspector + docked_collapsed + + + + + Visualize science data + docked_collapsed + + + + + Camera controls + docked_collapsed + + + + + docked_collapsed + + + + 6 + 0 + + 50000 + 0 100000 0 0 0 0.32 + 0 1 0 1 + + + + 100 + 0 + + 1 + 0 0 0 0 0 0 + 0.5 0.5 0.5 1 + + + + + Tethys controls + docked_collapsed + + + + + Reference axis + docked_collapsed + + tethys + + + + + true + 0 0 10 0 0 0 + 1 1 1 1 + 0.5 0.5 0.5 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + + + true + + + + + 0 0 1 + + 300000 300000 + + + 1.0 + + + + + + + + + 0 0 -10 0 0 0 + tethys_equipped + + + +