🌊 Ocean Current Overview

✨ Highlights

• Publish of ocean current velocity in the world (Ocean Current World Plugin, Ocean Current Plugin)and each underwater vehicle subscribes to apply its effects (Ocean Current Model Plugin)
• Ocean current velocity is defined at the world SDF file with following format options,
  • Constant velocity(velocity and direction)
  • Stratified velocity(CSV file)
  • Tidal oscillation constituents
• Each vehicle subscribes the ocean current topic and calculate force being applied
  • The current velocity updates incorporate a Gauss-Markov model to simulate noise disturbances, which is typical for ocean current representations.

Plugin Structure and Topic flow chart

📍 Demo Quickstart

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Ocean Current plugin done, you can test the features of the specific plugin by running the line below. The documentation needed for testing of the plugins can be found is respective sections.

ros2 launch dave_demos dave_robot.launch.py z:=-5 namespace:=rexrov world_name:=ocean_current_plugin paused:=false verbose:=true

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🗺️ Ocean Current World Plugin

The OceanCurrentWorldPlugin is a Gazebo-based simulation plugin designed to model ocean currents in underwater environments. It enables the simulation of both constant and stratified ocean currents with optional tidal oscillations. The plugin publishes current velocity data, allowing integration with underwater robotics simulations.

✨ Features

• Constant Ocean Currents:

  Models uniform currents across the simulation world using configurable parameters.

• Stratified Ocean Currents:

  Models depth-dependent ocean currents using a database of velocity and depth values.

• Tidal Oscillations:

  Adds sinusoidal oscillations to simulate tidal effects based on harmonic constituents or a tidal database.

• Gazebo Integration:

  Publishes Stratified Ocean Currents and constant Ocean Currents ****velocity data on Gazebo transport topics for real-time simulations.

Topic Structure