GZ Sim getting aborted automatically when gz-waves1-waves-models component is added

[adarsha-s-bharadwaj]

Hi, I successfully installed asv_wave_sim in ROS2 Humble Ubuntu 22.04 and it is working. But whenever I try to add the new component in gazebo sim (gz-waves1-waves-models), it is crashing or directly getting aborted. I am not getting the reason on why it's getting aborted. My PC specs is i7 12th gen 16gb ram 1TB SS.

[srmainwaring]

Possibly related to #168

[adarsha-s-bharadwaj]

ok I will look through it. I'm new to the boat environment and want to control the wam-v boat using keyboard, can you please tell me how to do it and how did you use ardupilot for control? any tutorial will help me.

[srmainwaring]

I'm new to the boat environment and want to control the wam-v boat using keyboard, can you please tell me how to do it and how did you use ardupilot for control? any tutorial will help me.

This user guide for the BlueBoat may help setting up ArduPilot for control. The WAM-V is similar, but uses vectored thrust motors: https://github.com/ArduPilot/SITL_Models/blob/master/Gazebo/docs/BlueBoat.md

[adarsha-s-bharadwaj]

Ok i will look through it. I am trying to use ocean waves or trochoid waves to check about buoyancy in waves_wind.sdf file or to run mumbles_head.sdf file, but when it runs, gazebo sim7 (gazebo garden) is directly getting aborted.

If this is not working, can you please tell me which type of wave should I use in gazebo sim to know about buoyancy and all? or how to solve this issue? and I was going through other issue pages and saw your comment on set <water_patch> true </water_patch>, can you please tell in which file (like sdf or something) should I put this water_patch true so that I will get that grid or something in gazebo sim 7? And also can I use this project using gazebo sim 8 (gazebo fortress) instead of gazebo sim7? and How to add buoyancy to the wam-v boat? is there any plugin?

[srmainwaring]

Adding a note here for future reference.

The main issue seems to be that the wave sim components do not support being added using the component inspector as per: gazebosim/gz-sim#1549.

This is not the recommended way to load the wave system and rendering plugins, and is not a feature that has been tested. It may be supported in future, but the currently supported approach is to define and load the systems as SDF plugins.

[adarsha-s-bharadwaj]

Okay Thank you so much!!