WavefieldVisualPlugin

A Gazebo visual plugin to synchronise and control a vertex shader rendering Gerstner waves.

Usage

Add the SDF for the plugin to the <visual> element of your wave model.

The SDF parameters specifying the wave are all optional, and normal use will be overridden.

If this visual is loaded as part of a wave model that also contains the plugin WavefieldModelPlugin, then it will receive a response to its request for ~/wave_param and set the wave parameters to be consistent with the wave generator operating on the physics server.

<plugin name="wavefield_visual" filename="libWavefieldVisualPlugin.so">
  <static>false</static>
  <wave>
    <number>3</number>
    <scale>1.5</scale>
    <angle>0.4</angle>
    <steepness>1.0</steepness>
    <amplitude>0.4</amplitude>
    <period>8.0</period>
    <direction>1 1</direction>
  </wave>
</plugin>

Subscribed Topics

1. ~/reponse (gazebo::msgs::Response)

2. ~/wave (gazebo::msgs::Param_V)

3. ~/world_stats (gazebo::msgs::WorldStatistics)

4. /marker (ignition::msgs::Marker)

Published Topics

1. ~/request (gazebo::msgs::Request)

Parameters

1. <static> (bool, default: false)
   Display a static wave field if set to true.

2. <number> (int, default: 1)
   The number of component waves.

3. <scale> (double, default: 2.0)
   The scale between the mean and largest / smallest component waves.

4. <angle> (double, default: 2*pi/10)
   The angle between the mean wave direction and the largest / smallest component waves.

5. <steepness> (double, default: 1.0)
   A parameter in [0, 1] controlling the wave steepness with 1 being steepest.

6. <amplitude> (double, default: 0.0)
   The amplitude of the mean wave in [m].

7. <period> (double, default: 1.0)
   The period of the mean wave in [s].

8. <phase> (double, default: 0.0)
   The phase of the mean wave.

9. <direction> (Vector2D, default: (1 0))
   A two component vector specifiying the direction of the mean wave.