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Logs a warning if a buoyancy mode is not clearly specified. #1307

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Merged
merged 3 commits into from
Feb 17, 2022
Merged

Logs a warning if a buoyancy mode is not clearly specified. #1307

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068a413
Logs a warning if a mode is not clearly sepecified.
arjo129 Jan 24, 2022
0760f34
Merge branch 'ign-gazebo6' into arjo/fix/qol_buoyancy
arjo129 Feb 16, 2022
62bbffd
Merge branch 'ign-gazebo6' into arjo/fix/qol_buoyancy
caguero Feb 16, 2022
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8 changes: 8 additions & 0 deletions src/systems/buoyancy/Buoyancy.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -316,6 +316,14 @@ void Buoyancy::Configure(const Entity &_entity,
argument = argument->GetNextElement();
}
}
else
{
ignwarn <<
"Neither <graded_buoyancy> nor <uniform_fluid_density> specified"
<< std::endl
<< "\tDefaulting to <uniform_fluid_density>1000</uniform_fluid_density>"
<< std::endl;
}

if (_sdf->HasElement("enable"))
{
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56 changes: 56 additions & 0 deletions test/integration/buoyancy.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -400,6 +400,62 @@ TEST_F(BuoyancyTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(GradedBuoyancy))
EXPECT_TRUE(finished);
}


/////////////////////////////////////////////////
TEST_F(BuoyancyTest, OffsetAndRotationGraded)
{
TestFixture fixture(common::joinPaths(std::string(PROJECT_SOURCE_PATH),
"test", "worlds", "center_of_volume_graded.sdf"));

std::size_t iterations{0};
fixture.OnPostUpdate([&](
const gazebo::UpdateInfo &,
const gazebo::EntityComponentManager &_ecm)
{
// Get links
auto noOffsets = entitiesFromScopedName("no_offset::link", _ecm);
ASSERT_EQ(1u, noOffsets.size());
auto noOffset = *noOffsets.begin();
EXPECT_NE(kNullEntity, noOffset);

auto noOffsetRotateds = entitiesFromScopedName("no_offset_rotated::link",
_ecm);
ASSERT_EQ(1u, noOffsetRotateds.size());
auto noOffsetRotated = *noOffsetRotateds.begin();
EXPECT_NE(kNullEntity, noOffsetRotated);

auto withOffsets = entitiesFromScopedName("com_cov_offset::link", _ecm);
ASSERT_EQ(1u, withOffsets.size());
auto withOffset = *withOffsets.begin();
EXPECT_NE(kNullEntity, withOffset);

auto withOffsetRotateds = entitiesFromScopedName(
"com_cov_offset_rotated::link", _ecm);
ASSERT_EQ(1u, withOffsetRotateds.size());
auto withOffsetRotated = *withOffsetRotateds.begin();
EXPECT_NE(kNullEntity, withOffsetRotated);

// Check that all objects are neutrally buoyant and stay still
auto noOffsetPose = worldPose(noOffset, _ecm);
EXPECT_EQ(math::Pose3d(), noOffsetPose);

auto noOffsetRotatedPose = worldPose(noOffsetRotated, _ecm);
EXPECT_EQ(math::Pose3d(-3, 0, 0, 0.1, 0.2, 0.3), noOffsetRotatedPose);

auto withOffsetPose = worldPose(withOffset, _ecm);
EXPECT_EQ(math::Pose3d(0, 3, 0, 0, 0, 0), withOffsetPose);

auto withOffsetRotatedPose = worldPose(withOffsetRotated, _ecm);
EXPECT_EQ(math::Pose3d(-3, 3, 0, 0.1, 0.2, 0.3), withOffsetRotatedPose);

iterations++;
}).Finalize();

std::size_t targetIterations{1000};
fixture.Server()->Run(true, targetIterations, false);
EXPECT_EQ(targetIterations, iterations);
}

/////////////////////////////////////////////////
TEST_F(BuoyancyTest, OffsetAndRotation)
{
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173 changes: 173 additions & 0 deletions test/worlds/center_of_volume_graded.sdf
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Original file line number Diff line number Diff line change
@@ -0,0 +1,173 @@
<?xml version="1.0" ?>
<sdf version="1.6">
<world name="center_of_volume">

<physics name="fast" type="ignored">
<real_time_factor>0</real_time_factor>
</physics>
<plugin
filename="libignition-gazebo-physics-system.so"
name="ignition::gazebo::systems::Physics">
</plugin>
<plugin
filename="libignition-gazebo-buoyancy-system.so"
name="ignition::gazebo::systems::Buoyancy">
<graded_buoyancy>
<default_density>1000</default_density>
<density_change>
<above_depth>500</above_depth>
<density>1</density>
</density_change>
</graded_buoyancy>
</plugin>

<plugin
filename="ignition-gazebo-user-commands-system"
name="ignition::gazebo::systems::UserCommands">
</plugin>
<plugin
filename="ignition-gazebo-scene-broadcaster-system"
name="ignition::gazebo::systems::SceneBroadcaster">
</plugin>
<model name='no_offset'>
<pose>0 0 0 0 0 0</pose>
<link name='link'>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<inertia>
<ixx>166.66</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>166.66</iyy>
<iyz>0</iyz>
<izz>166.66</izz>
</inertia>
<mass>1000.0</mass>
</inertial>
<visual name='visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<box>
<size>1.0 1.0 1.0</size>
</box>
</geometry>
</visual>
<collision name='collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<box>
<size>1.0 1.0 1.0</size>
</box>
</geometry>
</collision>
</link>
</model>

<model name='no_offset_rotated'>
<pose>-3 0 0 0.1 0.2 0.3</pose>
<link name='link'>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<inertia>
<ixx>166.66</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>166.66</iyy>
<iyz>0</iyz>
<izz>166.66</izz>
</inertia>
<mass>1000.0</mass>
</inertial>
<visual name='visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<box>
<size>1.0 1.0 1.0</size>
</box>
</geometry>
</visual>
<collision name='collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<box>
<size>1.0 1.0 1.0</size>
</box>
</geometry>
</collision>
</link>
</model>

<model name='com_cov_offset'>
<pose>0 3 0 0 0 0</pose>
<link name='link'>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>1 1 1 0 0 0</pose>
<inertia>
<ixx>166.66</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>166.66</iyy>
<iyz>0</iyz>
<izz>166.66</izz>
</inertia>
<mass>1000.0</mass>
</inertial>
<visual name='visual'>
<pose>1 1 1 0 0 0</pose>
<geometry>
<box>
<size>1.0 1.0 1.0</size>
</box>
</geometry>
</visual>
<collision name='collision'>
<pose>1 1 1 0 0 0</pose>
<geometry>
<box>
<size>1.0 1.0 1.0</size>
</box>
</geometry>
</collision>
</link>
</model>

<model name='com_cov_offset_rotated'>
<pose>-3 3 0 0.1 0.2 0.3</pose>
<link name='link'>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>1 1 1 0 0 0</pose>
<inertia>
<ixx>166.66</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>166.66</iyy>
<iyz>0</iyz>
<izz>166.66</izz>
</inertia>
<mass>1000.0</mass>
</inertial>
<visual name='visual'>
<pose>1 1 1 0 0 0</pose>
<geometry>
<box>
<size>1.0 1.0 1.0</size>
</box>
</geometry>
</visual>
<collision name='collision'>
<pose>1 1 1 0 0 0</pose>
<geometry>
<box>
<size>1.0 1.0 1.0</size>
</box>
</geometry>
</collision>
</link>
</model>

</world>
</sdf>