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This package contains plugins that support the simulation of waves and surface vessels in Gazebo.
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srmainwaring/asv_wave_sim
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This package contains plugins that support the simulation of waves and surface vessels inGazebo.
The main branch targetsGazebo Garden and no longer has a dependency on ROS.
There are new features including FFT wave generation methods, ocean tiling, and support for theOgre2 render engine. There are some changes in the way that the wave parameters need to be set, but as far possible we have attempted to retain compatibility with the earlier versions. Further details are described below where you can also find a section describingsupport for legacy versions of Gazebo.
A working installation ofGazebo Garden or later including development symbols.
The simulation uses theCGAL library for mesh manipulation andFFTW to compute Fourier transforms. Both libraries are licensed GPL-3.0.
- Ubuntu 22.04 (Jammy)
- Gazebo Sim, version 7.1.0 (Garden)
Install CGAL and FFTW:
sudo apt-get updatesudo apt-get install libcgal-dev libfftw3-dev
- macOS 12.6 (Monterey)
- Gazebo Sim, version 7.1.0 (Garden)
Install CGAL and FFTW:
brew updatebrew install cgal fftw
mkdir -p gz_ws/src
Clone theasv_wave_sim repository:
cd~/gz_ws/srcgit clone https://github.com/srmainwaring/asv_wave_sim.git
Compile the package:
colcon build --symlink-install --merge-install --cmake-args \-DCMAKE_BUILD_TYPE=RelWithDebInfo \-DBUILD_TESTING=ON \-DCMAKE_CXX_STANDARD=17
Source the workspace:
source ./install/setup.bashcolcon build --symlink-install --merge-install --cmake-args \-DCMAKE_BUILD_TYPE=RelWithDebInfo \-DBUILD_TESTING=ON \-DCMAKE_CXX_STANDARD=17 \-DCMAKE_MACOSX_RPATH=FALSE \-DCMAKE_INSTALL_NAME_DIR=$(pwd)/install/libSource the workspace:
source ./install/setup.zshThere is an optional GUI plugin that controls the wave parameters.
cd~/gz_ws/src/asv_wave_sim/gz-waves/src/gui/plugins/waves_control mkdir build&&cd buildcmake ..&& make
# for future use - to support multiple Gazebo versionsexport GZ_VERSION=garden# not usually required as should default to localhost addressexport GZ_IP=127.0.0.1# ensure the model and world files are foundexport GZ_SIM_RESOURCE_PATH=\$GZ_SIM_RESOURCE_PATH:\$HOME/gz_ws/src/asv_wave_sim/gz-waves-models/models:\$HOME/gz_ws/src/asv_wave_sim/gz-waves-models/world_models:\$HOME/gz_ws/src/asv_wave_sim/gz-waves-models/worlds# ensure the system plugins are foundexport GZ_SIM_SYSTEM_PLUGIN_PATH=\$GZ_SIM_SYSTEM_PLUGIN_PATH:\$HOME/gz_ws/install/lib# ensure the gui plugin is foundexport GZ_GUI_PLUGIN_PATH=\$GZ_GUI_PLUGIN_PATH:\$HOME/gz_ws/src/asv_wave_sim/gz-waves/src/gui/plugins/waves_control/build
If running on an Ubuntu virtual machine you may need to use software rendering if the hypervisor does not support hardware acceleration for OpenGL 4.2+. Installmesa-utils to enable llvmpipe:
sudo apt-get install mesa-utils
To use the llvmpipe software renderer, prefix Gazebo commands with theLIBGL_ALWAYS_SOFTWARE environment variable:
LIBGL_ALWAYS_SOFTWARE=1 gz sim waves.sdf
On macOS the client and server must be launched separately. The commands may be combined on Ubuntu.
Launch a Gazebo session.
Server:
gz sim -v4 -s -r waves.sdf
Client:
gz sim -v4 -g
The session should include a wave field and some floating objects.
There are some changes to the plugin SDF schema for hydrodynamics and waves.
- The
filenameandnameattributes for the wave model and visal plugins have changed. - The
<size>element has been renamed to<tile_size>and moved into<waves> - The
<cell_count>element has been moved into<waves> - Add new element
<algorithm>to specify the wave generation algorithm. Valid options are:sinusoid,trochoidandfft. - Add new element
<wind_velocity>for use with thefftalgorithm. - Add new element
<wind_speed>for use with thefftalgorithm. - Add new element
<wind_angle_deg>for use with thefftalgorithm.
<pluginfilename="gz-waves1-waves-model-system"name="gz::sim::systems::WavesModel"> <static>0</static> <update_rate>30</update_rate> <wave><!-- Grid dimensions - The tile_size and cell_count may be a single value for square grids, or a 2d vector if different resolution is desired along the x and y axis. - The cell_count must be a power of 2 for fft waves--><!-- Either: single value for square grids--> <tile_size>256.0</tile_size> <cell_count>128</cell_count><!-- Or: 2d vectors for different resolution in each axis--> <tile_size>256.0 64.0</tile_size> <cell_count>128 32</cell_count><!-- Wave algorithms - These elements specify the wave generation method and wave spectrum parameters.--><!-- Either: `fft` waves parameters--> <algorithm>fft</algorithm> <wind_speed>5.0</wind_speed> <wind_angle_deg>135</wind_angle_deg> <steepness>2</steepness><!-- Or: `trochoid` waves parameters--> <algorithm>trochoid</algorithm> <number>3</number> <scale>1.5</scale> <angle>0.4</angle> <amplitude>0.4</amplitude> <period>8.0</period> <phase>0.0</phase> <steepness>1.0</steepness> <direction>1 0</direction> </wave></plugin>
The waves visual plugin has the same algorithm elements as the model plugin and extra elements to control the shading algorithm. Two approaches are available:
DYNAMIC_GEOMETRYuses PBS shaders and is suitable for small areas.DYNAMIC_TEXTUREuses a custom shader and is suitable for tiled areas.
<pluginfilename="gz-waves1-waves-visual-system"name="gz::sim::systems::WavesVisual"> <static>0</static><!-- set the mesh deformation method--> <mesh_deformation_method>DYNAMIC_GEOMETRY</mesh_deformation_method><!-- number of additional tiles along each axis--> <tiles_x>-1 1</tiles_x> <tiles_y>-1 1</tiles_y> <wave><!-- `fft` wave parameters--> <algorithm>fft</algorithm> <tile_size>256.0</tile_size> <cell_count>128</cell_count> <wind_speed>5.0</wind_speed> <wind_angle_deg>135</wind_angle_deg> <steepness>2</steepness> </wave><!-- Shader parameters only apply when using DYNAMIC_TEXTURE--><!-- shader program--> <shaderlanguage="glsl"> <vertex>materials/waves_vs.glsl</vertex> <fragment>materials/waves_fs.glsl</fragment> </shader> <shaderlanguage="metal"> <vertex>materials/waves_vs.metal</vertex> <fragment>materials/waves_fs.metal</fragment> </shader><!-- vertex shader params--> <param> <shader>vertex</shader> <name>world_matrix</name> </param> <param> <shader>vertex</shader> <name>worldviewproj_matrix</name> </param> <param> <shader>vertex</shader> <name>camera_position</name> </param> <param> <shader>vertex</shader> <name>rescale</name> <value>0.5</value> <type>float</type> </param> <param> <shader>vertex</shader> <name>bumpScale</name> <value>64 64</value> <type>float_array</type> </param> <param> <shader>vertex</shader> <name>bumpSpeed</name> <value>0.01 0.01</value> <type>float_array</type> </param> <param> <shader>vertex</shader> <name>t</name> <value>TIME</value> </param><!-- pixel shader params--> <param> <shader>fragment</shader> <name>deepColor</name> <value>0.0 0.05 0.2 1.0</value> <type>float_array</type> </param> <param> <shader>fragment</shader> <name>shallowColor</name> <value>0.0 0.1 0.3 1.0</value> <type>float_array</type> </param> <param> <shader>fragment</shader> <name>fresnelPower</name> <value>5.0</value> <type>float</type> </param> <param> <shader>fragment</shader> <name>hdrMultiplier</name> <value>0.4</value> <type>float</type> </param> <param> <shader>fragment</shader> <name>bumpMap</name> <value>materials/wave_normals.dds</value> <type>texture</type> <arg>0</arg> </param> <param> <shader>fragment</shader> <name>cubeMap</name> <value>materials/skybox_lowres.dds</value> <type>texture_cube</type> <arg>1</arg> </param></plugin>
- The
filenameandnameattributes for the hydrodynamics plugin have changed. - The hydrodynamics parameters are now scoped in an additional
<hydrodynamics>element. - The buoyancy and hydrodynamics forces can be applied to specific entitiesin a model using the
<enable>element. The parameter should be a fullyscoped model entity (model, link or collision name). - The
<wave_model>element is not used.
<pluginfilename="gz-waves1-hydrodynamics-system"name="gz::sim::systems::Hydrodynamics"><!-- Apply hydrodynamics to the entire model (default)--> <enable>model_name</enable><!-- Or apply hydrodynamics to named links--> <enable>model_name::link1</enable> <enable>model_name::link2</enable><!-- Or apply hydrodynamics to named collisions--> <enable>model_name::link1::collision1</enable> <enable>model_name::link1::collision2</enable><!-- Hydrodynamics--> <hydrodynamics> <damping_on>1</damping_on> <viscous_drag_on>1</viscous_drag_on> <pressure_drag_on>1</pressure_drag_on><!-- Linear and Angular Damping--> <cDampL1>1.0E-6</cDampL1> <cDampL2>1.0E-6</cDampL2> <cDampR1>1.0E-6</cDampR1> <cDampR2>1.0E-6</cDampR2><!-- 'Pressure' Drag--> <cPDrag1>1.0E+2</cPDrag1> <cPDrag2>1.0E+2</cPDrag2> <fPDrag>0.4</fPDrag> <cSDrag1>1.0E+2</cSDrag1> <cSDrag2>1.0E+2</cSDrag2> <fSDrag>0.4</fSDrag> <vRDrag>1.0</vRDrag> </hydrodynamics><!-- Control visibility of markers--> <markers> <update_rate>10</update_rate> <water_patch>1</water_patch> <waterline>1</waterline> <underwater_surface>1</underwater_surface> </markers></plugin>
# build with tests$ colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_MACOSX_RPATH=FALSE -DCMAKE_INSTALL_NAME_DIR=$(pwd)/install/lib -DBUILD_TESTING=ON --packages-select gz-waves1# run testscolcontest --merge-install# check resultscolcon test-result --all --verbose
Testing within a project build directory
$cd~/gz_ws/src/asv_wave_sim/gz-waves$ mkdir build&&cd build$ cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_TESTING=ON$ make&& maketest
Plots may be generated for some of the wave spectra and wave simulation methods:
./install/bin/PLOT_WaveSpectrum
There is no plan to back-port new features to Gazebo9 or Gazebo11. The following branches are maintained for legacy support:
gazebo9- for Gazebo9 / ROS Melodic / Ubuntu 18.04 (Bionic).gazebo11- for Gazebo11 / ROS Noetic / Ubuntu 20.04 (Focal).
In addition there are three branches that contain development iterations of the FFT wave simulation - for Gazebo11 / ROS Noetic / Ubuntu 20.04 (Focal):
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 theGNU General Public License for more details.
This project makes use of other open source software, for full details see the fileLICENSE_THIRDPARTY.
- Jacques Kerner's two part blog describing boat physics for games:Water interaction model for boats in video games andWater interaction model for boats in video games: Part 2.
- TheCGAL libraries are used for the wave field and model meshes.
- TheUUV Simulator package for the orginal vertex shaders used in the wave field visuals.
- TheVMRC package for textures and meshes used in the wave field visuals.
- Jerry Tessendorf's paper onSimulating Ocean Water
- Curtis Mobley's web bookOcean Optics in particular the section onModeling Sea Surfaces andexample IDL code
About
This package contains plugins that support the simulation of waves and surface vessels in Gazebo.