Add water-mass tracking support for DVL #241
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@caguero @arjo129 Alright, I mostly managed to stabilize this code, not without some more changes to gazebosim/gz-sim#1616. Alas, bottom tracking doesn't fully work anymore. Not in this branch, nor in I'm still investigating, but it seems that the GPU lidar sensor won't see DEM textures. Possibly a regression in |
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Alright, Ian was right about visibility masks in gazebosim/gz-rendering#712. Bottom tracking is functional again. Water-mass tracking also appears to be working as intended, though I haven't added integration tests yet. |
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
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| @@ -23,6 +23,14 @@ | |||
| filename="ignition-gazebo-physics-system" | |||
| name="gz::sim::systems::Physics"> | |||
| </plugin> | |||
| <plugin | |||
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Knit: We don't need this for unit tests as the user does not need to visualize the scene.
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Agreed. At the same time, it's super handy to be able to just do gz sim on a test world when a test is failing. Maybe we can comment it out? WDYT?
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
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Gong in now. I'll fix CI in #248. |
Precisely what the title says.