Merge branch 'andermi/incoming_wave_service' into andermi/latent_data

osrf · Aug 31, 2023 · 54bd6ed · 54bd6ed
2 parents 9c47ee0 + 2d88d78
commit 54bd6ed
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Showing 4 changed files with 6 additions and 5 deletions.
diff --git a/.github/workflows/build-and-test.sh b/.github/workflows/build-and-test.sh
@@ -38,7 +38,7 @@ rosdep init
 rosdep update
 rosdep install --from-paths ./ -i -y -r --rosdistro $ROS_DISTRO
 
-git clone -b v1.3.0 --single-branch https://github.com/hamilton8415/FreeSurfaceHydrodynamics.git
+git clone -b v1.3.1 --single-branch https://github.com/hamilton8415/FreeSurfaceHydrodynamics.git
 cd FreeSurfaceHydrodynamics
 touch COLCON_IGNORE
 mkdir build

diff --git a/buoy_description/models/mbari_wec/model.sdf.em b/buoy_description/models/mbari_wec/model.sdf.em
@@ -222,7 +222,7 @@ if not ignore_piston_mean_pos:
       <initial_piston_position>@(initial_piston_position)</initial_piston_position>
       <!-- measure of valve opening cross-section and duration (meter-seconds) -->
       <valve_absement>7.77e-6</valve_absement>
-      <pump_absement>4.3e-8</pump_absement>
+      <pump_absement>5.5e-8</pump_absement>
       <pump_pressure>1.7e+6</pump_pressure>
       <stroke>2.03</stroke>
       <piston_area>@(Ap_u)</piston_area>
@@ -247,7 +247,7 @@ if not ignore_piston_mean_pos:
       <is_upper>false</is_upper>
       <!-- measure of valve opening cross-section and duration (meter-seconds) -->
       <valve_absement>7.77e-6</valve_absement>
-      <pump_absement>4.3e-8</pump_absement>
+      <pump_absement>5.5e-8</pump_absement>
       <pump_pressure>1.7e+6</pump_pressure>
       <stroke>2.03</stroke>
       <piston_area>@(Ap_l)</piston_area>

diff --git a/buoy_gazebo/src/ElectroHydraulicPTO/ElectroHydraulicPTO.cpp b/buoy_gazebo/src/ElectroHydraulicPTO/ElectroHydraulicPTO.cpp
@@ -464,7 +464,7 @@ void ElectroHydraulicPTO::PreUpdate(
   // Apply force if not in Velocity Mode, in which case a joint velocity is applied elsewhere
   // (likely by a test Fixture)
   if (!this->dataPtr->VelMode) {
-    double piston_force = -deltaP * this->dataPtr->PistonArea;
+    double piston_force = -deltaP * this->dataPtr->PistonArea * buoy_utils::NEWTONS_PER_LB;
     // Create new component for this entitiy in ECM (if it doesn't already exist)
     auto forceComp = _ecm.Component<gz::sim::components::JointForceCmd>(
       this->dataPtr->PrismaticJointEntity);
@@ -473,7 +473,7 @@ void ElectroHydraulicPTO::PreUpdate(
         this->dataPtr->PrismaticJointEntity,
         gz::sim::components::JointForceCmd({piston_force}));  // Create this iteration
     } else {
-      forceComp->Data()[0] += piston_force;     // Add force to existing forces.
+      forceComp->Data()[0] += piston_force;  // Add force to existing forces.
     }
   }
 }

diff --git a/buoy_gazebo/src/buoy_utils/Constants.hpp b/buoy_gazebo/src/buoy_utils/Constants.hpp
@@ -26,6 +26,7 @@ static constexpr double RPM_TO_RAD_PER_SEC{2.0 * M_PI / 60.0};
 static constexpr double NM_PER_INLB{0.112984829};
 static constexpr double INLB_PER_NM{8.851};
 static constexpr double INCHES_PER_METER{39.4};
+static constexpr double NEWTONS_PER_LB{4.4482};
 }  // namespace buoy_utils