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Added example world for DopplerVelocityLogSystem (#2373)
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# Summary
The examples/worlds directory does not contain any example world for DopplerVelocityLogSystem plugin. This PR adds the following:

Example world based on test/worlds/flat_seabed.sdf but with a SceneBroadcaster.
README.md in test/worlds directory to inform users not to use those world files.
More information can be found in Issue #2344 and PR #2346.

# Test it
This world can be tested (after building and sourcing the workspace) using the following command
```
  gz sim flat_seabed.sdf
```
---------

Signed-off-by: Saurabh Kamat <[email protected]>
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@sauk2
sauk2 authored Apr 18, 2024
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291 changes: 291 additions & 0 deletions examples/worlds/dvl_world.sdf
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<?xml version="1.0" ?>
<!--
Example showing the usage of the Doppler Velocity Log (DVL) sensor
on an Autonomous Underwater Vehicle (AUV).
The world contains the MBARI Tethys LRAUV model along with
the following plugins:
* Buoyancy: applies buoyancy forces
* DopplerVelocityLogSystem: sensor to measure doppler velocity
* JointPositionController: controls the vertical and horizontal fins
* LiftDrag: generates forces on the vertical and horizontal fins
* Thruster: propels the vehicle
* Hydrodynamics: applies forces such as added mass, drag and coriolis
The AUV can be controlled using the following commands (to move in a circle):
1. Move the rudder:
gz topic -t /model/tethys/joint/vertical_fins_joint/0/cmd_pos \
-m gz.msgs.Double -p 'data: -0.17'
2. Propel the vehicle:
gz topic -t /model/tethys/joint/propeller_joint/cmd_thrust \
-m gz.msgs.Double -p 'data: -31'
To see the DVL output run the following command:
3. gz topic -t /dvl/velocity -e
-->
<sdf version="1.6">
<world name="dvl_world">
<scene>
<!-- For turquoise ambient to match particle effect -->
<ambient>0.0 1.0 1.0</ambient>
<!-- For default gray ambient -->
<background>0.0 0.7 0.8</background>

<grid>false</grid>
</scene>

<physics name="1ms" type="ode">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
filename="gz-sim-sensors-system"
name="gz::sim::systems::Sensors">
</plugin>
<plugin
filename="gz-sim-dvl-system"
name="gz::sim::systems::DopplerVelocityLogSystem">
</plugin>
<plugin
filename="gz-sim-buoyancy-system"
name="gz::sim::systems::Buoyancy">
<uniform_fluid_density>1000</uniform_fluid_density>
</plugin>
<plugin
filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>
<plugin
filename="gz-sim-contact-system"
name="gz::sim::systems::Contact">
</plugin>
<plugin
filename="gz-sim-user-commands-system"
name="gz::sim::systems::UserCommands">
</plugin>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>1 1 1 1</diffuse>
<specular>0.5 0.5 0.5 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>

<!-- This invisible plane helps with orbiting the camera, especially at large scales -->
<model name="horizontal_plane">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<!-- 300 km x 300 km -->
<size>300000 300000</size>
</plane>
</geometry>
<transparency>1.0</transparency>
</visual>
</link>
</model>

<model name="sea_bottom">
<static>true</static>
<pose>0 0 -100 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<!-- 300 km x 300 km -->
<size>300000 300000</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<material>
<ambient>0.5 0.5 0.5</ambient>
<diffuse>0.5 0.5 0.5</diffuse>
</material>
<geometry>
<plane>
<normal>0 0 1</normal>
<!-- 300 km x 300 km -->
<size>300000 300000</size>
</plane>
</geometry>
</visual>
</link>
</model>

<include>
<pose>0 0 -80 0 0 1.57</pose>
<uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>

<experimental:params>
<sensor
element_id="base_link" action="add"
name="teledyne_pathfinder_dvl"
type="custom" gz:type="dvl">
<pose degrees="true">-0.60 0 -0.16 0 0 180</pose>
<always_on>1</always_on>
<update_rate>1</update_rate>
<topic>/dvl/velocity</topic>
<gz:dvl>
<type>phased_array</type>
<arrangement degrees="true">
<beam id="1">
<aperture>2</aperture>
<rotation>45</rotation>
<tilt>30</tilt>
</beam>
<beam>
<aperture>2</aperture>
<rotation>135</rotation>
<tilt>30</tilt>
</beam>
<beam>
<aperture>2</aperture>
<rotation>-45</rotation>
<tilt>30</tilt>
</beam>
<beam>
<aperture>2</aperture>
<rotation>-135</rotation>
<tilt>30</tilt>
</beam>
</arrangement>
<tracking>
<bottom_mode>
<when>best</when>
<noise type="gaussian">
<!-- +/- 0.4 cm/s precision at 10 m/s within 2 stddevs -->
<stddev>0.002</stddev>
</noise>
<visualize>false</visualize>
</bottom_mode>
</tracking>
<!-- Roughly 1 m resolution at a 100m -->
<resolution>0.01</resolution>
<maximum_range>100.</maximum_range>
<minimum_range>0.1</minimum_range>
<!-- ENU to SFM -->
<reference_frame>0 0 0 0 0 -1.570796</reference_frame>
</gz:dvl>
</sensor>
</experimental:params>

<!-- Odometry publisher -->
<plugin
filename="gz-sim-odometry-publisher-system"
name="gz::sim::systems::OdometryPublisher">
</plugin>

<!-- Joint controllers -->
<plugin
filename="gz-sim-joint-position-controller-system"
name="gz::sim::systems::JointPositionController">
<joint_name>horizontal_fins_joint</joint_name>
<p_gain>0.1</p_gain>
</plugin>

<plugin
filename="gz-sim-joint-position-controller-system"
name="gz::sim::systems::JointPositionController">
<joint_name>vertical_fins_joint</joint_name>
<p_gain>0.1</p_gain>
</plugin>

<plugin
filename="gz-sim-thruster-system"
name="gz::sim::systems::Thruster">
<namespace>tethys</namespace>
<use_angvel_cmd>0</use_angvel_cmd>
<joint_name>propeller_joint</joint_name>
<thrust_coefficient>0.004422</thrust_coefficient>
<fluid_density>1000</fluid_density>
<propeller_diameter>0.2</propeller_diameter>
</plugin>

<!-- Lift and drag -->

<!-- Vertical fin -->
<plugin
filename="gz-sim-lift-drag-system"
name="gz::sim::systems::LiftDrag">
<air_density>1000</air_density>
<cla>4.13</cla>
<cla_stall>-1.1</cla_stall>
<cda>0.2</cda>
<cda_stall>0.03</cda_stall>
<alpha_stall>0.17</alpha_stall>
<a0>0</a0>
<area>0.0244</area>
<upward>0 1 0</upward>
<forward>1 0 0</forward>
<link_name>vertical_fins</link_name>
<cp>0 0 0</cp>
</plugin>

<!-- Horizontal fin -->
<plugin
filename="gz-sim-lift-drag-system"
name="gz::sim::systems::LiftDrag">
<air_density>1000</air_density>
<cla>4.13</cla>
<cla_stall>-1.1</cla_stall>
<cda>0.2</cda>
<cda_stall>0.03</cda_stall>
<alpha_stall>0.17</alpha_stall>
<a0>0</a0>
<area>0.0244</area>
<upward>0 0 1</upward>
<forward>1 0 0</forward>
<link_name>horizontal_fins</link_name>
<cp>0 0 0</cp>
</plugin>

<!-- Hydrodynamics plugin-->
<plugin
filename="gz-sim-hydrodynamics-system"
name="gz::sim::systems::Hydrodynamics">
<link_name>base_link</link_name>
<xDotU>-4.876161</xDotU>
<yDotV>-126.324739</yDotV>
<zDotW>-126.324739</zDotW>
<kDotP>0</kDotP>
<mDotQ>-33.46</mDotQ>
<nDotR>-33.46</nDotR>
<xUabsU>-6.2282</xUabsU>
<xU>0</xU>
<yVabsV>-601.27</yVabsV>
<yV>0</yV>
<zWabsW>-601.27</zWabsW>
<zW>0</zW>
<kPabsP>-0.1916</kPabsP>
<kP>0</kP>
<mQabsQ>-632.698957</mQabsQ>
<mQ>0</mQ>
<nRabsR>-632.698957</nRabsR>
<nR>0</nR>
</plugin>
</include>
</world>
</sdf>
9 changes: 9 additions & 0 deletions test/worlds/README.md
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# Integration Testing Files

## Purpose

This folder contains world files specifically designed for purpose of integration testing of system plugins. **They are strictly for testing and not meant to be run as examples.**

## Running system plugin examples

The world files are present in the `examples/worlds` directory of this repository.

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