spawn correct - flotation incorrect

Ricardo Rico Uribe
1 parent d0abee90
Showing 18 changed files with 187 additions and 423 deletions Show diff stats
aquanaute_description/launch/description.launch
aquanaute_description/urdf/aquanaute.urdf -> aquanaute_description/urdf/aquanaute_description.urdf.xacro
aquanaute_gazebo/CMakeList.txt
aquanaute_gazebo/CMakeLists.txt
aquanaute_gazebo/launch/empty_world.launch
aquanaute_gazebo/launch/lac_world.launch
aquanaute_gazebo/launch/spawn_aquanaute.launch
aquanaute_gazebo/package.xml
aquanaute_gazebo/urdf/aquanaute_gazebo.urdf.xacro
aquanaute_gazebo/urdf/aquanaute_gazebo.xacro
aquanaute_gazebo/urdf/dynamics/aquanaute_gazebo_dynamics_plugin.xacro
aquanaute_gazebo/urdf/macros.xacro
aquanaute_gazebo/worlds/empty.world
aquanaute_gazebo/worlds/lac.world
vrx_gazebo/launch/sandisland.launch
vrx_gazebo/worlds/ocean.world.xacro
vrx_gazebo/worlds/xacros/usv_wind_plugin.xacro
wave_gazebo/world_models/ocean_waves/model.xacro
 <launch>
   <arg name="robot_namespace" default="aquanaute"/>
  
-  <param name="robot_description" command="cat $(find aquanaute_description)/urdf/aquanaute.urdf"/>
+  <param name="robot_description" command="cat $(find aquanaute_description)/urdf/aquanaute_description.urdf.xacro"/>
  
   <!-- send fake joint values -->
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
 <?xml version="1.0"?>
-<robot name="aquanaute">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="aquanaute">
  
     <material name="blue">
         <color rgba="0 0 0.8 1"/>
@@ -209,7 +209,7 @@
         <kd>100000.0</kd>
         <mu1>10.0</mu1>
         <mu2>10.0</mu2>
-        <material>Gazebo/Grey</material>
+        <material>Gazebo/Red</material>
     </gazebo>
  
     <gazebo reference="left_hull_link">
@@ -217,7 +217,7 @@
         <kd>100000.0</kd>
         <mu1>10.0</mu1>
         <mu2>10.0</mu2>
-        <material>Gazebo/Grey</material>
+        <material>Gazebo/Red</material>
     </gazebo>
  
     <gazebo reference="motor_link">
@@ -225,7 +225,7 @@
         <kd>100000.0</kd>
         <mu1>10.0</mu1>
         <mu2>10.0</mu2>
-        <material>Gazebo/Grey</material>
+        <material>Gazebo/Black</material>
     </gazebo>
  
     <gazebo reference="sensor_frame_link">
@@ -233,35 +233,7 @@
         <kd>100000.0</kd>
         <mu1>10.0</mu1>
         <mu2>10.0</mu2>
-        <material>Gazebo/Grey</material>
+        <material>Gazebo/White</material>
     </gazebo>
-    <!--
-    <joint name="pitch_joint" type="revolute">
-    	<parent link="roll_M1_link"/>
-    	<child link="pitch_M2_link"/>
-    	<origin xyz="0 0 0" rpy="0 -1.5708 0"/>
-        <limit lower="0" upper="0.44" effort="0.1" velocity="0.005"/>
-        <axis xyz="0 1 0"/>
-	</joint>
-
-    <joint name="yaw_joint" type="continuous">
-    	<parent link="pitch_M2_link"/>
-    	<child link="yaw_M3_link"/>
-        <origin xyz="0.01 0 0" rpy="0 1.5708 0"/>
-        <limit effort="0.1" velocity="0.01"/>
-        <axis xyz="0 0 1"/>
-	</joint>
-    -->
  
-    <!-- This is for color and physical properties in Gazebo, color won't work with the material tag in gazebo
-    only for URDF coloring 
-    <gazebo reference="roll_M1_link">
-        <kp>1000.0</kp>
-        <kd>10.0</kd>
-        <mu1>10.0</mu1>
-        <mu2>10.0</mu2>
-        <material>Gazebo/Red</material>
-    </gazebo>
-    -->
-
 </robot>
@@ -1,14 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(aquanaute_gazebo)
-
-find_package(catkin REQUIRED COMPONENTS roslaunch)
-
-catkin_package()
-
-roslaunch_add_file_check(launch)
-
-install(
-  DIRECTORY launch worlds
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
-
@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(aquanaute_gazebo)
+find_package(catkin REQUIRED COMPONENTS
+  aquanaute_description
+  usv_gazebo_plugins
+  xacro
+)
+catkin_package(
+  CATKIN_DEPENDS aquanaute_description usv_gazebo_plugins xacro
+)
+
+# Generate urdf files from xacro and install
+xacro_add_files(
+  urdf/aquanaute_gazebo.urdf.xacro
+  INORDER INSTALL DESTINATION urdf
+)
+
+# Install xacro files / macros
+install(DIRECTORY urdf/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf)
+
@@ -1,18 +0,0 @@
-<launch>
-
-  <arg name="world_name" default="worlds/empty.world"/>
-
-  <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="world_name" value="$(arg world_name)"/> <!-- world_name is wrt GAZEBO_RESOURCE_PATH environment variable -->
-    <arg name="paused" value="false"/>
-    <arg name="use_sim_time" value="true"/>
-    <arg name="gui" value="true"/>
-    <arg name="headless" value="false"/>
-    <arg name="debug" value="false"/>
-  </include>
-
-  <include file="$(find aquanaute_gazebo)/launch/spawn_aquanaute.launch">
-  </include>
-
-</launch>
-
@@ -1,13 +0,0 @@
-<launch>
-
-  <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="world_name" value="$(find aquanaute_gazebo)/worlds/lac.world"/>
-    <arg name="paused" value="false"/>
-    <arg name="use_sim_time" value="true"/>
-    <arg name="gui" value="true"/>
-    <arg name="headless" value="false"/>
-    <arg name="debug" value="false"/>
-  </include>
-
-</launch>
-
@@ -1,31 +0,0 @@
-<launch>
-
-  <arg name="robot_namespace" default="/"/>
-
-  <arg name="x" default="0.0"/>
-  <arg name="y" default="0.0"/>
-  <arg name="z" default="0.0"/>
-  <arg name="yaw" default="0.0"/>
-
-  <group ns="$(arg robot_namespace)">
-
-      <include file="$(find aquanaute_description)/launch/description.launch" >
-        <arg name="robot_namespace" value="$(arg robot_namespace)"/>
-		<!--<arg name="urdf_extras" default="$(arg urdf_extras)"/>-->
-      </include>
-        
-    <!-- Spawn robot in gazebo -->
-    <node name="spawn_husky_model" pkg="gazebo_ros" type="spawn_model"
-        args="-x $(arg x)
-              -y $(arg y)
-              -z $(arg z)
-              -Y $(arg yaw)
-              -unpause
-              -urdf
-              -param robot_description
-              -model $(arg robot_namespace)" />
-
-  </group>
-
-</launch>
-
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>aquanaute_gazebo</name>
-  <version>0.4.2</version>
-  <description>Aquanaute Simulator bringup</description>
-
-  <author email="ricardo.rico-uribe@ensta-paris.fr">Ricardo RICO URIBE</author>
-
+  <version>1.3.0</version>
+  <description>
+    Provides templates and examples for integrating the WAM-V model into gazebo with dynamics, sensors, etc.
+  </description>
+  <maintainer email="caguero@osrfoundation.org">Carlos Aguero</maintainer>
+  <maintainer email="jriveroo@osrfoundation.org">Jose Luis Rivero</maintainer>
+  <license>Apache 2.0</license>
+  <url type="website">http://wiki.ros.org/wamv_gazebo</url>
+  <url type="bugtracker">http://github.com/osrf/vrx/issues</url>
+  <author email="briansbingham@gmail.com">Brian Bingham</author>
+  <author email="caguero@osrfoundation.org">Carlos Aguero</author>
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>roslaunch</build_depend>
-  <run_depend>controller_manager</run_depend>
-  <run_depend>gazebo_plugins</run_depend>
-  <run_depend>gazebo_ros</run_depend>
-  <run_depend>gazebo_ros_control</run_depend>
-  <run_depend>aquanaute_description</run_depend>
-  <run_depend>rostopic</run_depend>
-
-  <export>
-  </export>
+  <depend>gazebo_plugins</depend>
+  <depend>hector_gazebo_plugins</depend>
+  <depend>robot_localization</depend>
+  <depend>usv_gazebo_plugins</depend>
+  <depend>velodyne_gazebo_plugins</depend>
+  <depend>aquanaute_description</depend>
+  <depend>xacro</depend>
 </package>
-
@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<!-- Basic WAM-V with gazebo plugins for dynamics -->
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="aquanaute">
+    <!-- Include macros for dynamics plugins -->
+    <xacro:include filename="$(find aquanaute_gazebo)/urdf/macros.xacro" />
+    <!-- Defines the base vehicle -->
+    <xacro:include filename="$(find aquanaute_description)/urdf/aquanaute_description.urdf.xacro" />
+    <!-- Attach hydrodynamics plugin -->
+    <xacro:usv_dynamics_gazebo name="aquanaute_dynamics_plugin"/>
+</robot>
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro  name="aquanaute_gazebo">
+    <!-- Include macros for dynamics plugins -->
+    <xacro:include filename="$(find aquanaute_gazebo)/urdf/macros.xacro" />
+    <!-- Defines the base vehicle -->
+    <xacro:include filename="$(find aquanaute_description)/urdf/aquanaute_description.urdf.xacro" />
+    <!-- Attach hydrodynamics plugin -->
+    <xacro:usv_dynamics_gazebo name="aquanaute_dynamics_plugin"/>
+  </xacro:macro>
+</robot>
@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="usv_dynamics_gazebo" params="name">
+    <!--Gazebo Plugin for simulating WAM-V dynamics-->
+    <gazebo>
+      <plugin name="usv_dynamics_${name}" filename="libusv_gazebo_dynamics_plugin.so">
+        <bodyName>base_link</bodyName>
+        <!-- Must be same as the ocean model!-->
+        <waterLevel>0</waterLevel>
+        <waterDensity>997.8</waterDensity>
+        <!-- Added mass -->
+        <xDotU>0.0</xDotU>
+        <yDotV>0.0</yDotV>
+        <nDotR>0.0</nDotR>
+        <!-- Linear and quadratic drag -->
+        <xU>51.3</xU>
+        <xUU>72.4</xUU>
+        <yV>40.0</yV>
+        <yVV>0.0</yVV>
+        <zW>500.0</zW>
+        <kP>50.0</kP>
+        <mQ>50.0</mQ>
+        <nR>400.0</nR>
+        <nRR>0.0</nRR>
+        <!-- General dimensions -->
+        <!--<boatArea>2.2</boatArea>-->
+        <hullRadius>0.19</hullRadius>
+        <boatWidth>2</boatWidth>
+        <boatLength>3</boatLength>
+        <!-- Length discretization, AKA, "N" -->
+        <length_n>10</length_n>
+        <!-- Wave model -->
+        <wave_model>ocean_waves</wave_model>
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+</robot>
@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+<!-- Includes all macros in this package so they don't need to be included individualy -->
+<robot xmlns:xacro="http://ros.org/wiki/xacro"
+       name="Aquanaute">
+  <!-- Include dynamics macros -->
+  <xacro:include filename="$(find aquanaute_gazebo)/urdf/dynamics/aquanaute_gazebo_dynamics_plugin.xacro" />
+</robot>
@@ -1,108 +0,0 @@
-<?xml version="1.0"?>
-<!--
-Software License Agreement (BSD)
-
-\file      clearpath_playpen.world
-\authors   Prasenjit Mukherjee <code@clearpathrobotics.com
-\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
-
-Redistribution and use in source and binary forms, with or without modification, are permitted provided that
-the following conditions are met:
- * Redistributions of source code must retain the above copyright notice, this list of conditions and the
-   following disclaimer.
- * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the 
-   following disclaimer in the documentation and/or other materials provided with the distribution.
- * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
-   products derived from this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
-RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
-PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
-DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
-OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
--->
-<sdf version='1.4'>
-  <world name='default'>
-    <light name='sun' type='directional'>
-      <cast_shadows>1</cast_shadows>
-      <pose>0 0 10 0 -0 0</pose>
-      <diffuse>0.8 0.8 0.8 1</diffuse>
-      <specular>0.2 0.2 0.2 1</specular>
-      <attenuation>
-        <range>1000</range>
-        <constant>0.9</constant>
-        <linear>0.01</linear>
-        <quadratic>0.001</quadratic>
-      </attenuation>
-      <direction>-0.5 0.1 -0.9</direction>
-    </light>
-    <model name='ground_plane'>
-      <static>1</static>
-      <link name='link'>
-        <collision name='collision'>
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>100 100</size>
-            </plane>
-          </geometry>
-          <surface>
-            <friction>
-              <ode>
-                <mu>100</mu>
-                <mu2>50</mu2>
-              </ode>
-            </friction>
-            <bounce/>
-            <contact>
-              <ode/>
-            </contact>
-          </surface>
-          <max_contacts>10</max_contacts>
-        </collision>
-        <visual name='visual'>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>100 100</size>
-            </plane>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-          </material>
-        </visual>
-        <velocity_decay>
-          <linear>0</linear>
-          <angular>0</angular>
-        </velocity_decay>
-        <self_collide>0</self_collide>
-        <kinematic>0</kinematic>
-        <gravity>1</gravity>
-      </link>
-    </model>
-    <physics type='ode'>
-      <max_step_size>0.01</max_step_size>
-      <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>100</real_time_update_rate>
-      <gravity>0 0 -9.8</gravity>
-    </physics>
-    <scene>
-      <ambient>0.4 0.4 0.4 1</ambient>
-      <background>0.7 0.7 0.7 1</background>
-      <shadows>1</shadows>
-    </scene>
-    <gui fullscreen='0'>
-      <camera name='user_camera'>
-        <pose>16.2337 1.23674 17.6497 0 0.923643 -3.08299</pose>
-        <view_controller>orbit</view_controller>
-      </camera>
-    </gui>
-  </world>
-</sdf>
-
@@ -1,108 +0,0 @@
-<?xml version="1.0"?>
-<!--
-Software License Agreement (BSD)
-
-\file      clearpath_playpen.world
-\authors   Prasenjit Mukherjee <code@clearpathrobotics.com
-\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
-
-Redistribution and use in source and binary forms, with or without modification, are permitted provided that
-the following conditions are met:
- * Redistributions of source code must retain the above copyright notice, this list of conditions and the
-   following disclaimer.
- * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the 
-   following disclaimer in the documentation and/or other materials provided with the distribution.
- * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
-   products derived from this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
-RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
-PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
-DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
-OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
--->
-<sdf version='1.4'>
-  <world name='default'>
-    <light name='sun' type='directional'>
-      <cast_shadows>1</cast_shadows>
-      <pose>0 0 10 0 -0 0</pose>
-      <diffuse>0.8 0.8 0.8 1</diffuse>
-      <specular>0.2 0.2 0.2 1</specular>
-      <attenuation>
-        <range>1000</range>
-        <constant>0.9</constant>
-        <linear>0.01</linear>
-        <quadratic>0.001</quadratic>
-      </attenuation>
-      <direction>-0.5 0.1 -0.9</direction>
-    </light>
-    <model name='ground_plane'>
-      <static>1</static>
-      <link name='link'>
-        <collision name='collision'>
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>100 100</size>
-            </plane>
-          </geometry>
-          <surface>
-            <friction>
-              <ode>
-                <mu>100</mu>
-                <mu2>50</mu2>
-              </ode>
-            </friction>
-            <bounce/>
-            <contact>
-              <ode/>
-            </contact>
-          </surface>
-          <max_contacts>10</max_contacts>
-        </collision>
-        <visual name='visual'>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>100 100</size>
-            </plane>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-          </material>
-        </visual>
-        <velocity_decay>
-          <linear>0</linear>
-          <angular>0</angular>
-        </velocity_decay>
-        <self_collide>0</self_collide>
-        <kinematic>0</kinematic>
-        <gravity>1</gravity>
-      </link>
-    </model>
-    <physics type='ode'>
-      <max_step_size>0.01</max_step_size>
-      <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>100</real_time_update_rate>
-      <gravity>0 0 -9.8</gravity>
-    </physics>
-    <scene>
-      <ambient>0.4 0.4 0.4 1</ambient>
-      <background>0.7 0.7 0.7 1</background>
-      <shadows>1</shadows>
-    </scene>
-    <gui fullscreen='0'>
-      <camera name='user_camera'>
-        <pose>16.2337 1.23674 17.6497 0 0.923643 -3.08299</pose>
-        <view_controller>orbit</view_controller>
-      </camera>
-    </gui>
-  </world>
-</sdf>
-
@@ -17,7 +17,7 @@
   <!-- Initial USV location and attitude-->
   <arg name="x" default="0" />
   <arg name="y" default="0" />
-  <arg name="z" default="0" />
+  <arg name="z" default="2" />
   <arg name="P" default="0" />
   <arg name="R" default="0" />
   <arg name="Y" default="0" />
@@ -37,9 +37,10 @@
     <arg name="extra_gazebo_args" value="$(arg extra_gazebo_args)"/>
   </include>
  
-  <!-- Load robot model -->
+<!-- Load robot model -->
+ <arg name="urdf" default="$(find aquanaute_gazebo)/urdf/aquanaute_gazebo.urdf.xacro"/>
   <param name="$(arg namespace)/robot_description"
-         command="cat $(find aquanaute_description)/urdf/aquanaute.urdf"/>
+         command="$(find xacro)/xacro '$(arg urdf)'"/>
  
   <!-- Spawn model in Gazebo, script depending on non_competition_mode -->
   <node name="spawn_model" pkg="gazebo_ros" type="spawn_model"
@@ -51,6 +51,5 @@
  
     <!-- World models  -->
     <xacro:include filename="$(find wave_gazebo)/world_models/ocean_waves/model.xacro"/>
-    <xacro:ocean_waves gain="0.6"/>
   </world>
 </sdf>
@@ -5,7 +5,7 @@
                          direction:=270
                          mean_vel:=0
                          var_gain:=0
-                         var_time:=1
+                         var_time:=0
                          seed:=''
                          ros_update_rate:=10
                          " >
@@ -22,83 +22,79 @@
   Modified to include wave field model and visual plugins.
 -->
  
-
-
 <world xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="ocean_waves" params="gain:=0.1 period:=5
-                     direction_x:=1.0 direction_y:=0.0
-                     angle:=0.4">
-  <model name='ocean_waves'>
-    <static>true</static>
-    <plugin name="wavefield_plugin" filename="libWavefieldModelPlugin.so">
-      <static>false</static>
-      <update_rate>30</update_rate>
-      <size>1000 1000</size>
-      <cell_count>50 50</cell_count>
-      <wave>
-				<model>PMS</model>
-        <period>${period}</period>
-        <number>3</number>
-        <scale>1.5</scale>
-      S	<gain>${gain}</gain>
-        <direction>${direction_x} ${direction_y}</direction>
-        <angle>${angle}</angle>        
-        <tau>2.0</tau>
-        <amplitude>0.0</amplitude>  <!-- No effect for the PMS model -->
-        <steepness>0.0</steepness>
-      </wave>
-    </plugin>
+  <xacro:macro name="ocean_waves" params="gain:=0.0 period:=5 direction_x:=1.0 direction_y:=0.0 angle:=0.4">
+    <model name='ocean_waves'>
+      <static>true</static>
+      <plugin name="wavefield_plugin" filename="libWavefieldModelPlugin.so">
+        <static>false</static>
+        <update_rate>30</update_rate>
+        <size>500 500</size>
+        <cell_count>50 50</cell_count>
+        <wave>
+          <model>PMS</model>
+          <period>${period}</period>
+          <number>3</number>
+          <scale>1.5</scale>
+          <gain>${gain}</gain>
+          <direction>${direction_x} ${direction_y}</direction>
+          <angle>${angle}</angle>
+          <tau>2.0</tau>
+          <amplitude>0.0</amplitude>          <!-- No effect for the PMS model -->
+          <steepness>0.0</steepness>
+        </wave>
+      </plugin>
  
-    <link name="ocean_waves_link">
-      <visual name="ocean_waves_visual">
-        <plugin name="ocean_waves_visual_plugin" filename="libWavefieldVisualPlugin.so">
-          <enableRtt>true</enableRtt>
-          <rttNoise>0.1</rttNoise>
-          <refractOpacity>0.2</refractOpacity>
-          <reflectOpacity>0.2</reflectOpacity>
-          <wave>
-            <model>PMS</model>
-            <period>${period}</period>
-            <number>3</number>
-            <scale>1.5</scale>
-	    <gain>${gain}</gain>
-            <direction>${direction_x} ${direction_y}</direction>
-            <angle>${angle}</angle>        
-            <tau>2.0</tau>
-            <amplitude>0.0</amplitude>  <!-- No effect for the PMS model -->
-            <steepness>0.0</steepness>
-          </wave>
-        </plugin>
-        <geometry>
-          <mesh>
-            <uri>model://ocean_waves/meshes/mesh.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <script>
-            <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-            <name>WaveSim/GerstnerWaves</name>
-          </script>
-        </material>
-        <laser_retro>-1</laser_retro>
-      </visual>
-      <visual name="ocean_waves_below_visual">
-        <pose>0 0 -0.05 0 0 0</pose>  <!-- Offset to prevent rendering conflict -->
-        <geometry>
-          <mesh>
-            <uri>model://ocean_waves/meshes/mesh_below.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <script>
-            <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-            <name>WaveSim/GerstnerWaves</name>
-          </script>
-        </material>
-        <laser_retro>-1</laser_retro>
-      </visual>
-    </link>
-  </model>
+      <link name="ocean_waves_link">
+        <visual name="ocean_waves_visual">
+          <plugin name="ocean_waves_visual_plugin" filename="libWavefieldVisualPlugin.so">
+            <enableRtt>true</enableRtt>
+            <rttNoise>0.1</rttNoise>
+            <refractOpacity>0.2</refractOpacity>
+            <reflectOpacity>0.2</reflectOpacity>
+            <wave>
+              <model>PMS</model>
+              <period>${period}</period>
+              <number>3</number>
+              <scale>1.5</scale>
+              <gain>${gain}</gain>
+              <direction>${direction_x} ${direction_y}</direction>
+              <angle>${angle}</angle>
+              <tau>2.0</tau>
+              <amplitude>0.0</amplitude>              <!-- No effect for the PMS model -->
+              <steepness>0.0</steepness>
+            </wave>
+          </plugin>
+          <geometry>
+            <mesh>
+              <uri>model://ocean_waves/meshes/mesh.dae</uri>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
+              <name>WaveSim/GerstnerWaves</name>
+            </script>
+          </material>
+          <laser_retro>-1</laser_retro>
+        </visual>
+        <visual name="ocean_waves_below_visual">
+          <pose>0 0 -0.05 0 0 0</pose>          <!-- Offset to prevent rendering conflict -->
+          <geometry>
+            <mesh>
+              <uri>model://ocean_waves/meshes/mesh_below.dae</uri>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
+              <name>WaveSim/GerstnerWaves</name>
+            </script>
+          </material>
+          <laser_retro>-1</laser_retro>
+        </visual>
+      </link>
+    </model>
   </xacro:macro>
 </world>