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uuv_plume_simulator

Link to the uuv_plume_simulator repository here

Description¶

Plume simulator package

Launch files¶

`start_demo_turbulent_plume.launch`¶

Arguments

use_gazebo (default: false)

`start_plume_example.launch`¶

Arguments

use_gazebo (default: false)

`start_current_velocity_server.launch`¶

Arguments

current_velocity_topic (default: current_velocity)
update_rate (default: 10)

`start_turbulent_plume.launch`¶

Arguments

diffusion_coef_x (default: 0.4)
diffusion_coef_y (default: 0.4)
diffusion_coef_z (default: 0.1)
source_x (default: -180.0)
source_y (default: 0.0)
source_z (default: -30.0)
buoyancy_flux (default: 0.1)
stability_param (default: 0.001)
n_points (default: 150000)
x_min (default: -200)
x_max (default: 200.0)
y_min (default: -75)
y_max (default: 75)
z_min (default: -60)
z_max (default: 0.0)
max_particules_per_iter (default: 80)
max_life_time (default: -1)

`start_plume_server.launch`¶

Arguments

current_velocity_topic (default: /hydrodynamics/current_velocity)
update_rate (default: 5.0)

Scripts¶

`set_demo_turbulent_plume`¶

Script type: shell

`plume_server`¶

Script type: python

Description

Passive turbulent plume server node.

Input ROS parameters

update_rate (default: 5, type: int or float): Update rate for the plume particle point cloud update

Launch file snippet

<group ns="plume">
    <node name="plume_simulation_server"
          pkg="uuv_plume_simulator"
          type="plume_server"
          output="screen">
      <remap from="current_vel" to="/hydrodynamics/current_velocity"/>
      <rosparam subst_value="true">
            update_rate: 5
      </rosparam>
    </node>
</group>

ROS services

create_spheroid_plume

Service description file

uuv_plume_msgs/CreateSpheroidPlume

Service call

rosservice call /<plume_namespace>/create_spheroid_plume "source: {x: 0.0, y: 0.0, z: 0.0}
orientation: {x: 0.0, y: 0.0, z: 0.0, w: 0.0}
n_points: 0
a: 0.0
c: 0.0
x_min: 0.0
x_max: 0.0
y_min: 0.0
y_max: 0.0
z_min: 0.0
z_max: 0.0"

Create a static plume in the shape of a spheroid.

source: Plume source position wrt ENU frame
orientation: Spheroid orientation in quaternion
n_points: Number of plume particles
a and c: Spheroid's semi-axis length
x_min, x_max, y_min, y_max, z_min, z_max: Limits of the bounding box where the plume particles are allowed to exist

create_passive_scalar_turbulent_plume

Service description file

uuv_plume_msgs/CreatePassiveScalarTurbulentPlume

Service call

rosservice call /<plume_namespace>/create_passive_scalar_turbulent_plume "turbulent_diffusion_coefficients: {x: 0.0, y: 0.0, z: 0.0}
source: {x: 0.0, y: 0.0, z: 0.0}
buoyancy_flux: 0.0
stability_param: 0.0
n_points: 0
max_particles_per_iter: 0
x_min: 0.0
x_max: 0.0
y_min: 0.0
y_max: 0.0
z_min: 0.0
z_max: 0.0
max_life_time: 0.0"

Create a passive turbulent plume.

turbulent_diffusion_coefficients: Coefficients ruling the diffusion of the particles for each degree of freedom of the particle.
source: Position of the plume source wrt ENU frame
buoyancy_flux and stability_param: Parameters controlling the plume rise
n_points: Maximum number of plume particles to be generated
max_particles_per_iter: Maximum number of particles generated at the source position at each iteration
x_min, x_max, y_min, y_max, z_min, z_max: Limits of the bounding box where the plume particles are allowed to exist
max_life_time: Maximum life time of each particle in seconds

set_plume_limits

Service description file

uuv_plume_msgs/SetPlumeLimits

Service call

rosservice call /<plume_namespace>/set_plume_limits "{x_min: 0.0, x_max: 0.0, y_min: 0.0, y_max: 0.0, z_min: 0.0, z_max: 0.0}"

Sets the bounds of the box where the plume particles are allowed to exist.

x_min, x_max, y_min, y_max, z_min, z_max: Limits of the bounding box where the plume particles are allowed to exist

set_plume_config

Service description file

uuv_plume_msgs/SetPlumeConfiguration

Service call

rosservice call /<plume_namespace>/set_plume_config "n_points: 0
max_particles_per_iter: 0"

Configure the plume's particle generation parameters.

n_points: Maximum number of plume particles to be generated
max_particles_per_iter: Maximum number of particles generated at the source position at each iteration

get_plume_config

Service description file

uuv_plume_msgs/GetPlumeConfiguration

Service call

rosservice call /<plume_namespace>/get_plume_config

Return the plume's generation configuration parameters, including maximum number of particles, maximum number of particles per iteration, source position and limits of the bounding box.

delete_plume

Service description file

uuv_plume_msgs/DeletePlume

Service call

rosservice call /<plume_namespace>/delete_plume

Delete the source and the particles.

set_plume_source_position

Service description file

uuv_plume_msgs/SetPlumeSourcePosition

Service call

rosservice call /<plume_namespace>/set_plume_source_position "source:
  x: 0.0
  y: 0.0
  z: 0.0"

Set plume source position wrt ENU frame

source: New plume source position wrt ENU frame

get_plume_source_position

Service description file

uuv_plume_msgs/GetPlumeSourcePosition

Service call

rosservice call /<plume_namespace>/get_plume_source_position

Return the plume source position coordinates.

get_num_particles

Service description file

uuv_plume_msgs/GetNumParticles

Service call

rosservice call /<plume_namespace>/get_num_particles

Return current number of plume particles.

store_plume_state

Service description file

uuv_plume_msgs/StorePlumeState

Service call

rosservice call /<plume_namespace>/store_plume_state "output_dir: ''
filename: ''"

Store the position and time of creation for of each particle in a file as an YAML file.

output_dir: Path to output directory
filename: Output YAML file

load_plume_particles

Service description file

uuv_plume_msgs/LoadPlumeParticles

Service call

rosservice call /<plume_namespace>/load_plume_particles "plume_file: ''"

Load an YAML file with the plume particles' list positions and time of creation.

plume_file: Plume YAML file

`current_velocity_server`¶

Script type: python

Description

Current velocity server node. In case no Gazebo simulation is providing the current velocity topic to steer the plume, this node generates a 2D current velocity topic. Both the current's velocity magnitude and horizontal angle are modeled using a Gaussian-Markov process of first order, as shown in Fossen's lecture notes. The velocity magnitude is described by

$\dot{v_c}(t) + \mu_c v_c(t) = w_c$

and the horizontal angle $\phi$ is modeled similarly as

$\dot{\phi}(t) + \mu_a \phi(t) = w_a$

where $\mu$ is the inverse of the time constant of the process and $w$ is a random variable described by a normal distribution.

The final current velocity vector is then written as

$v(t) = ( v_c \cos \phi, v_c \sin \phi, 0 )$

and published as a geometry_msgs/TwistStamped message.

Input ROS parameters

current_velocity_topic (default: current_velocity, type: string): Name of the output current velocity topic
update_rate (default: 10, type: int or float): Update rate of the output current velocity topic

Launch file snippet

<node name="current_velocity_server"
    pkg="uuv_plume_simulator"
    type="current_velocity_server"
    output="screen">
    <rosparam subst_value="true">
        current_velocity_topic: /current_velocity
        update_rate: 10
    </rosparam>
</node>

Running from the launch file

roslaunch uuv_plume_simulator start_current_velocity_server.launch current_velocity_topic:=current_velocity update_rate:=10

Warning

Do NOT run the current velocity server with a Gazebo simulation that generates the same topic, it can cause unexpected behaviours to the plume's steering.

ROS services

get_current_velocity_model

Service description file

uuv_plume_msgs/GetCurrentModel

Service call

rosservice call /<namespace>/get_current_velocity_model

Return the parameters for the Gauss-Markov process describing the current velocity magnitude $v_c$ .

get_angle_model

Service description file

uuv_plume_msgs/GetCurrentModel

Service call

rosservice call /<namespace>/get_angle_model

Return the parameters for the Gauss-Markov process describing the current's horizontal angle $\phi$ .

set_current_velocity_model

Service description file

uuv_plume_msgs/SetCurrentModel

Service call

rosservice call /<namespace>/set_current_velocity_model "{mean: 0.0, min: 0.0, max: 0.0, noise: 0.0, mu: 0.0}"

Set the parameters for the Gauss-Markov process describing the current velocity magnitude $v_c$ .

mean: Mean value in m/s
min and max: Bounds of the output velocity magnitude in m/s
noise: Amplitude of the random noise value in m/s
mu: Inverse of the process' time constant

set_angle_model

Service description file

uuv_plume_msgs/SetCurrentModel

Service call

rosservice call /<namespace>/set_angle_model "{mean: 0.0, min: 0.0, max: 0.0, noise: 0.0, mu: 0.0}"

Set the parameters for the Gauss-Markov process describing the current's horizontal angle $\phi$ .

mean: Mean value in radians
min and max: Bounds of the output angle in radians
noise: Amplitude of the random noise value in radians
mu: Inverse of the process' time constant

set_current_velocity

Service description file

uuv_plume_msgs/SetCurrentVelocity

Service call

rosservice call /<namespace>/set_current_velocity "velocity: 0.0
horizontal_angle: 0.0"

Set a default model for current velocity magnitude $v_c$ and horizontal angle $\phi$ .

velocity: Mean current velocity magnitude in m/s
`horizontal_angle: Mean horizonal angle in degrees

`set_demo_current_vel_gazebo`¶

Script type: shell

`set_demo_spheroid_plume`¶

Script type: shell

`load_plume_particles`¶

Script type: python

Description

Node to call the ROS service from the plume server to load the plume particles from an YAML file.

Input ROS parameters

filename (type: string): Input YAML file where the plume particles' coordinates and time of creation are stored

ROS launch snippet

<node name="load_plume_particles"
      pkg="uuv_plume_simulator"
      type="load_plume_particles"
      output="screen">
    <rosparam>
        filename: /<path>/file.yaml
    </rosparam>
</node>

`set_demo_current_vel`¶

Script type: shell

`set_turbulent_plume`¶

Script type: python

Description

Node to call the ROS service from the plume server to create a passive turbulent plume.

uuv_plume_simulator

Description¶

Launch files¶

start_demo_turbulent_plume.launch¶

start_plume_example.launch¶

start_current_velocity_server.launch¶

start_turbulent_plume.launch¶

start_plume_server.launch¶

Scripts¶

set_demo_turbulent_plume¶

plume_server¶

current_velocity_server¶

set_demo_current_vel_gazebo¶

set_demo_spheroid_plume¶

load_plume_particles¶

set_demo_current_vel¶

set_turbulent_plume¶

`start_demo_turbulent_plume.launch`¶

`start_plume_example.launch`¶

`start_current_velocity_server.launch`¶

`start_turbulent_plume.launch`¶

`start_plume_server.launch`¶

`set_demo_turbulent_plume`¶

`plume_server`¶

`current_velocity_server`¶

`set_demo_current_vel_gazebo`¶

`set_demo_spheroid_plume`¶

`load_plume_particles`¶

`set_demo_current_vel`¶

`set_turbulent_plume`¶