Boat simulation in ardupilot SITL with gazebo about ardupilot_gazebo

[SwiftGust]

Currently my repository doesn't have surface or underwater vehicles, and I don't know about the surface vehicle dynamics.

If you wanna build boat SITL model for ArduPilot, you can use gazebo hydrodynamics plugin.
This is supported by gazebo simulator natively, you can refer tutorial at http://gazebosim.org/tutorials?tut=hydrodynamics&cat=physics and models in my repository.

And there is gazebo boat model for PX4 at https://github.com/PX4/sitl_gazebo for quick look, it doesn't use hydrodynamics plugin, it is simulating boat dynamics with own built plugin as in https://github.com/PX4/sitl_gazebo/blob/master/src/gazebo_usv_dynamics_plugin.cpp

you can also use this plugin to simulate vehicle dynamics and use interface in this repository to create SITL model for ArduPilot

[imgod26]

Is there a way to use the worlds and models from this. https://bitbucket.org/osrf/vrx/src/default/

And run it with SwiftGust and Ardurover sailboat SITL.

[SwiftGust]

It seems no problem at all using gazebo models & worlds in the VRX.

The only missing thing from VRX is USV model built with USV plugin in their own repository,
you can refer PX4 boat model, now I see it is same USV plugin from VRX, so this model dynamics should be compatible with VRX model - https://github.com/PX4/sitl_gazebo/blob/master/models/boat/boat.sdf

Other thing you require is to replace PX4 - Gazebo plugin setup with ArduPilot - Gazebo plugin in this repository.
PX4 Gazebo plugin settings seems quite large but nothing much since PX4 prefers modular architecture so you wouldn't have much problem.
https://github.com/PX4/sitl_gazebo/blob/0823f5e006011d36858c2dd39881874c1edac10b/models/boat/boat.sdf#L448-L577 except just leave usv dyanmics part at https://github.com/PX4/sitl_gazebo/blob/0823f5e006011d36858c2dd39881874c1edac10b/models/boat/boat.sdf#L515-L536

Regarding setting up ArduPilot - Gazebo Plugin, refer models in my repository
example -

ardupilot_gazebo/models/zephyr_delta_wing_ardupilot_demo/delta_wing.sdf

Lines 132 to 186 in 7da690d

	<plugin name="ardupilot_plugin" filename="libArduPilotPlugin.so">
	<fdm_addr>127.0.0.1</fdm_addr>
	<fdm_port_in>9002</fdm_port_in>
	<fdm_port_out>9003</fdm_port_out>
	<modelXYZToAirplaneXForwardZDown>0 0 0 3.141593 0 -1.57079</modelXYZToAirplaneXForwardZDown>
	<gazeboXYZToNED>0 0 0 3.141593 0 -1.57079</gazeboXYZToNED>
	<imuName>zephyr_delta_wing_demo::zephyr_delta_wing::zephyr/imu_link::imu_sensor</imuName>
	<connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
	<control channel="2">
	<!--
	incoming control command [0, 1]
	so offset it by 0 to get [0, 1]
	and divide max target by 1.
	offset = 0
	multiplier = 838 max rpm / 1 = 838
	-->
	<multiplier>838</multiplier>
	<offset>0.2</offset>
	<type>VELOCITY</type>
	<p_gain>0.5</p_gain>
	<i_gain>0</i_gain>
	<d_gain>0</d_gain>
	<i_max>0</i_max>
	<i_min>0</i_min>
	<cmd_max>2.0</cmd_max>
	<cmd_min>0.0</cmd_min>
	<jointName>zephyr_delta_wing::propeller_joint</jointName>
	</control>
	<control channel="1">
	<multiplier>-1</multiplier>
	<offset>-0.5</offset>
	<type>POSITION</type>
	<p_gain>10.0</p_gain>
	<i_gain>0</i_gain>
	<d_gain>0</d_gain>
	<i_max>0</i_max>
	<i_min>0</i_min>
	<cmd_max>2.0</cmd_max>
	<cmd_min>-2.0</cmd_min>
	<jointName>zephyr_delta_wing::flap_left_joint</jointName>
	</control>
	<control channel="0">
	<multiplier>-1</multiplier>
	<offset>-0.5</offset>
	<type>POSITION</type>
	<p_gain>10.0</p_gain>
	<i_gain>0</i_gain>
	<d_gain>0</d_gain>
	<i_max>0</i_max>
	<i_min>0</i_min>
	<cmd_max>2.0</cmd_max>
	<cmd_min>-2.0</cmd_min>
	<jointName>zephyr_delta_wing::flap_right_joint</jointName>
	</control>
	</plugin>

Sensors -

ardupilot_gazebo/models/zephyr_delta_wing/model.sdf

Lines 101 to 188 in 7da690d

	<sensor name="gps_sensor" type="gps">
	<pose>0 0 0 0 0 0</pose>
	<update_rate>10.0</update_rate>
	<always_on>true</always_on>
	<gps>
	<position_sensing>
	<horizontal>
	<noise type="gaussian_quantized">
	<mean>0</mean>
	<stddev>1</stddev>
	<bias_mean>3</bias_mean>
	<bias_stddev>1</bias_stddev>
	<precision>0.5</precision>
	</noise>
	</horizontal>
	<vertical>
	<noise type="gaussian_quantized">
	<mean>0</mean>
	<stddev>1</stddev>
	<bias_mean>3</bias_mean>
	<bias_stddev>1</bias_stddev>
	<precision>1.0</precision>
	</noise>
	</vertical>
	</position_sensing>
	<velocity_sensing>
	<horizontal>
	<noise type="gaussian_quantized">
	<mean>0</mean>
	<stddev>0.1</stddev>
	<bias_mean>0.1</bias_mean>
	<bias_stddev>0.1</bias_stddev>
	<precision>0.1</precision>
	</noise>
	</horizontal>
	<vertical>
	<noise type="gaussian_quantized">
	<mean>0</mean>
	<stddev>0.2</stddev>
	<bias_mean>0.2</bias_mean>
	<bias_stddev>0.2</bias_stddev>
	<precision>0.2</precision>
	</noise>
	</vertical>
	</velocity_sensing>
	</gps>
	</sensor>
	<link name='zephyr/imu_link'>
	<inertial>
	<pose>0 0 0 0 0 0</pose>
	<mass>0.15</mass>
	<inertia>
	<ixx>0.00001</ixx>
	<ixy>0</ixy>
	<ixz>0</ixz>
	<iyy>0.00002</iyy>
	<iyz>0</iyz>
	<izz>0.00002</izz>
	</inertia>
	</inertial>
	<sensor name="imu_sensor" type="imu">
	<pose>0 0 0 3.141593 0 -1.57079</pose>
	<always_on>1</always_on>
	<update_rate>1000.0</update_rate>
	</sensor>
	</link>
	<joint name='zephyr/imu_joint' type='revolute'>
	<child>zephyr/imu_link</child>
	<parent>wing</parent>
	<axis>
	<xyz>0 0 1</xyz>
	<limit>
	<lower>0</lower>
	<upper>0</upper>
	<effort>0</effort>
	<velocity>0</velocity>
	</limit>
	<dynamics>
	<damping>1.0</damping>
	</dynamics>
	<use_parent_model_frame>1</use_parent_model_frame>
	</axis>
	<physics>
	<ode>
	<implicit_spring_damper>1</implicit_spring_damper>
	</ode>
	</physics>
	</joint>

[Ric-27]

did you managed to use vrx models with ardupilot-gazebo plugin?
I was able to combine the ardupilot plugin with the vrx simulation (waves and wind) but when I click the ardupilot plugin inside gazebo i get the following error.

[ericjohnson97]

I was able to setup a simulation using the ardupilot plugin and the bouyancy plugin from px4. here is my simulation repo. there is a section about setting it up for simulating boats https://github.com/Intelligent-Quads/iq_sim