Update added-mass of lrauv model and remove added mass definitions from examples #2608
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
examples Fixes #2575 Since, we have decided to deprecate added mass in the hydrodynamics plugin in favour of Rigid Bodies, we should update our examples to avoid the warning. TODO: Update maritime tutorials and migration guide. Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
I'm reverting DVL tests as they never considered added mass. Adding added mass changes the expected velocities. Signed-off-by: Arjo Chakravarty <[email protected]>
azeey
reviewed
Sep 17, 2024
Signed-off-by: Arjo Chakravarty <[email protected]>
…gz-sim into arjo/fix/update_model
Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## gz-sim9 #2608 +/- ##
===========================================
+ Coverage 68.73% 68.76% +0.02%
===========================================
Files 341 341
Lines 33011 33049 +38
===========================================
+ Hits 22690 22726 +36
- Misses 10321 10323 +2 ☔ View full report in Codecov by Sentry. |
iche033
reviewed
Oct 15, 2024
| # Migrating Added Mass from the Hydrodynamics to the Fluid Added Mass tag | ||
|
|
||
| Historically, we used the specify added mass in the parameters of the hydrodynamics plugin. | ||
| Starting with GazeboIonic, we have deprecated that in favour of using the SDF `<fluid_added_mass>` tag directly. This guarantees better numerical stability. That being said, in order to actually simulate added mass your underlying physics engine must be able to support the added mass tag. So far that only includes the DART physics engine. |
There was a problem hiding this comment.
Suggested change
| Starting with GazeboIonic, we have deprecated that in favour of using the SDF `<fluid_added_mass>` tag directly. This guarantees better numerical stability. That being said, in order to actually simulate added mass your underlying physics engine must be able to support the added mass tag. So far that only includes the DART physics engine. | |
| Starting with Gazebo Ionic, we have deprecated that in favour of using the SDF `<fluid_added_mass>` tag directly. This guarantees better numerical stability. That being said, in order to actually simulate added mass your underlying physics engine must be able to support the added mass tag. So far that only includes the DART physics engine. |
| @@ -271,16 +271,10 @@ | |||
| </plugin> | |||
|
|
|||
| <!-- Uncomment to add hydrodynamics --> | |||
| <!-- <plugin | |||
| <plugin | |||
There was a problem hiding this comment.
should this be uncommented? if so, we can remove the <!-- Uncomment to add hydrodynamics --> line above
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
🦟 Bug fix
Fixes #2575
Summary
Since, we have decided to deprecate added mass in the hydrodynamics plugin in favor of using the SDFormat
fluid_added_masstag (See #2493 ), we should update our examples to avoid the warning.TODO: Update maritime tutorials and migration guide.
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸