Determine method for specifying the 'seastate' of the simulation.

[osrf-migration]

Original report (archived issue) by Brian Bingham (Bitbucket: brian_bingham).

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For the purposes of the competition we need to be able to specify the wave conditions (seastate) in the environment - specifically we need to be able to give a range of seastate values to specify the range of operating conditions that the tasks solutions will be tested against.

In the current default branch the wave field is specified as a summation of N regular waves where the amplitude, period and direction of each wave component are specified directly - see https://github.com/osrf/vrx/blob/master/wamv_gazebo/urdf/dynamics/wamv_gazebo_dynamics_plugin.xacro

In the proposed synchronized physics visualization (see PR #78 ) the wave field is specified like so…

./devel/lib/asv_wave_sim_gazebo_plugins/WaveMsgPublisher \
  --number 3 \
  --scale 2 \
  --angle 0.4 \
  --direction -1 -1 \
  --steepness 1 \
  --period 7 \
  --amplitude .1

where the properties of the individual wave components are determined as described here.

After we integrate the physics/visual synchronization (see issue #23 (#23)) we need to determine a reasonable way to describe the range of seastates that will be use for task evaluation.

[osrf-migration]

Original comment by Brian Bingham (Bitbucket: brian_bingham).

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• changed state from "new" to "resolved"

See https://osrf-migration.github.io/vrx-gh-pages/#!/osrf/vrx/wiki/documentation/wavefield_envelope