Example controller for LRAUV

[adityapande-1995]

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🎉 New feature

Summary

This PR adds a simple PID based controller for LRAUVs, specifically a PI controller for speed, and P for yaw and pitch angles.
The target state is the linear speed, yaw and pitch angle of the vehicle.

Test it

The required world file is gz-sim/examples/worlds/lrauv_control_demo.sdf. Run that file in a terminal :

gz sim -r lrauv_control_demo.sdf

and in a separate terminal, source the Gazebo Garden workspace and run :

cd ~/garden_ws/src/gz-sim/examples/standalone/lrauv_control/
mkdir build ; cd build
cmake ..; make
./lrauv_control 0.5 0.78 0.174

This would make the vehicle maintain a speed of 0.5 m/s, yaw angle of 0.78 rad (~ 45 deg) and pitch angle of 0.147 rad (~10 deg).

TODO

• Make the LRAUV leave a trail of markers when moving.
• Interpolate between states for large angles.
• Update README
• Remove sections from codecov and testing

Screenshot

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[codecov]

Codecov Report

Merging #1822 (607e0f0) into gz-sim7 (64c01fd) will decrease coverage by 0.07%.
The diff coverage is n/a.

❗ Current head 607e0f0 differs from pull request most recent head 689139a. Consider uploading reports for the commit 689139a to get more accurate results

@@             Coverage Diff             @@
##           gz-sim7    #1822      +/-   ##
===========================================
- Coverage    64.52%   64.44%   -0.08%     
===========================================
  Files          341      341              
  Lines        27185    28826    +1641     
===========================================
+ Hits         17540    18577    +1037     
- Misses        9645    10249     +604     

Impacted Files	Coverage Δ
src/gui/AboutDialogHandler.cc	66.66% <0.00%> (-3.34%)	⬇️
src/systems/altimeter/Altimeter.cc	73.52% <0.00%> (-1.48%)	⬇️
.../plugins/component_inspector/ComponentInspector.cc	5.46% <0.00%> (-0.01%)	⬇️
include/gz/sim/Util.hh	100.00% <0.00%> (ø)
src/components/Environment.cc	100.00% <0.00%> (ø)
src/systems/buoyancy/Buoyancy.hh	100.00% <0.00%> (ø)
include/gz/sim/components/Environment.hh	100.00% <0.00%> (ø)
src/rendering/RenderUtil.cc	39.73% <0.00%> (+0.19%)	⬆️
src/rendering/SceneManager.cc	31.37% <0.00%> (+0.41%)	⬆️
src/SimulationRunner.cc	92.27% <0.00%> (+0.94%)	⬆️
... and 7 more

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[arjo129]

The README is empty. Did you forget to commit it?

[adityapande-1995]

The README is empty. Did you forget to commit it?

Sorry about that, still working on the controller. I meant to keep this as a draft.

[hidmic]

@adityapande-1995 this looks great. Left a few comments. Will test next.

[hidmic]

@adityapande-1995 we should check failing CI jobs.

[adityapande-1995]

@osrf-jenkins retest this please

[adityapande-1995]

The only test failing here is UNIT_SdfGenerator_TEST which I don't think is related to the changes made here. What do you think @hidmic @caguero ?

[hidmic]

@adityapande-1995 not sure what the policy is, but I see the same as you: it's UNIT_SdfGenerator_TEST failing everywhere.

We should be good to merge this patch.

Updated README