Hydrodynamics plugin for simulating underwater vehicles

[arjo129]

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🎉 New feature

Closes #

Summary

This PR adds support for hydrodynamic simulation of underwater vehicles. It does so by introducing two new plugins. The first consists of a new Hydrodynamics system and a new Thruster system. These systems are based on the equations described in Fossen's "Guidance and Control of Ocean Vehicles".

I've added an example world and tutorial giving more details of how to use the new plugins.

Test it

An example configuration is provided in the examples folder. The example uses the LiftDrag plugin to apply steering controls. It also uses the thruster plugin to propel the craft and the buoyancy plugin for buoyant force. To run the example run.

ign gazebo auv_controls.sdf

To control the rudder of the craft run the following

ign topic -t /model/tethys/joint/vertical_fins_joint/0/cmd_pos -m ignition.msgs.Double -p 'data: -0.17'

To apply a thrust you may run the following command

ign topic -t /model/tethys/joint/propeller_joint/cmd_pos -m ignition.msgs.Double -p 'data: -31'

The vehicle should move in a circle.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• 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

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