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gz_fft_waves

  • This gz package simulates realistic ocean waves generated using FFT.

  • This is a modification of the original work done by srmainwaring.

  • The goal is to simplify the code base for using only fft based waves and improve realistic reflections.

Dependencies

  • A working installatin of gazebo sim (harmonic/garden/ionic)

  • This package uses FFTW and CGAL, both of which are GPL-3.0 Licensed.

  • Ubuntu-22.04 (Jammy)

Installing dependencies :

  • Install gazebo harmonic from here.

  • Install Colcon for building the package

    sudo apt install python3-pip
pip install -U colcon-common-extensions

  • Install fftw/intel-mkl (for fft) and cgal (for geometric computations) libraries

    sudo apt-get update
sudo apt-get install libcgal-dev libfftw3-dev
sudo apt install -y gpg-agent wget
wget -O- https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB | gpg --dearmor | sudo tee /usr/share/keyrings/oneapi-archive-keyring.gpg > /dev/null
echo "deb [signed-by=/usr/share/keyrings/oneapi-archive-keyring.gpg] https://apt.repos.intel.com/oneapi all main" | sudo tee /etc/apt/sources.list.d/oneAPI.list
sudo apt update
sudo apt install intel-oneapi-mkl
sudo apt install intel-oneapi-mkl-devel

    • run this onetime command to source the oneapi mkl

      source /opt/intel/oneapi/setvars.sh

Setting up this project

  • Create a workspace and clone this repo

    mkdir -p ~/gz_waves_ws/src
cd ~/gz_waves_ws/src
git clone https://github.com/ab31mohit/gz_fft_waves.git

  • Copy and paste the following lines of code in .bashrc file

    export GZ_VERSION=harmonic
export GZ_IP=127.0.0.1
export GZ_DISCOVERY_MULTICST=0

# waves setup
source ~/gz_waves_ws/install/setup.bash

export GZ_SIM_RESOURCE_PATH=\
$GZ_SIM_RESOURCE_PATH:\
~/gz_waves_ws/src/gz_fft_waves/models:\
~/gz_waves_ws/src/gz_fft_waves/worlds

export GZ_SIM_SYSTEM_PLUGIN_PATH=\
$GZ_SIM_SYSTEM_PLUGIN_PATH:\
~/workspace~/gz_waves_ws/install/lib

  • Build the package

    cd ~/gz_waves_ws/
colcon build --symlink-install --merge-install --cmake-args \
-DCMAKE_BUILD_TYPE=RelWithDebInfo \
-DBUILD_TESTING=ON \
-DCMAKE_CXX_STANDARD=17
source ~/.bashrc

    In case yout system gets stuck during the build process again and again, you can use

    cd ~/gz_waves_ws/
rm -rf build/ install/ log/
LDFLAGS="-Wl,--no-keep-memory" MAKEFLAGS="-j1" colcon build \
--executor sequential \
--parallel-workers 1 \
--cmake-args \  
-DBUILD_TESTING=OFF \  
-DCMAKE_BUILD_TYPE=RelWithDebInfo \
-DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF
source ~/.bashrc

  • The simply run the ocean.sdf world file directly from the terminal

    gz sim -v4 ocean.sdf

  • By default the current code uses Intel MKL oneapi for fft computation.

  • For using FFTW3, just interchange the code between these 2 set of files

    LinearRandomFFTWaveSimulationImpl.hh <-----> LinearRandomFFTWaveSimulationImpl_backup.hh

    LinearRandomFFTWaveSimulation.cc <-----> LinearRandomFFTWaveSimulation_backup.cc

  • the backup files contain fft computation code using fftw3 library and the current version contains fft computation code using intel mkl oneapi.