Ocean waves and WAM-V

[woensug-choi]

DEMO Launch

ros2 launch dave_demos dave_robot.launch.py namespace:=wamv world_name:=wamv_waves paused:=false

• Ran on Dave Docker RDP (MacOS X)
  

Additional packages you need

sudo apt-get install libcgal-dev libfftw3-dev

ensure the system plugins are found

export GZ_SIM_SYSTEM_PLUGIN_PATH=\
$GZ_SIM_SYSTEM_PLUGIN_PATH:\
/home/docker/HOST/dave_ws/install/wave/lib

ensure the gui plugin is found

export GZ_GUI_PLUGIN_PATH=\
$GZ_GUI_PLUGIN_PATH:\
/home/docker/HOST/dave_ws/install/wave/src/gui/plugins/waves_control/build

For current ogre vendor package bug, this is required (July 7, 2025)

ln -s /opt/ros/jazzy/opt/gz_ogre_next_vendor/lib/libOgreNextMain.so.2.3.3 /opt/ros/jazzy/opt/gz_ogre_next_vendor/lib/libOgreNextMain.so.2.3.1

Referenced from https://github.com/srmainwaring/asv_wave_sim by @srmainwaring

[woensug-choi]

Need to update docker images and installation methods for environmental variables set-up
Also, the documentations.

[srmainwaring]

@woensug-choi it may be better to not copy the code from https://github.com/srmainwaring/asv_wave_sim into this repo, and just reference the plugin instead, maybe as a module, or a build dependency. Aside from potential maintenance issues in creating a hard fork, the code is GPL3, which would require the code in this repo to also be subject to the same license.

[woensug-choi]

@srmainwaring I shall rewrite as dependency! Thank you for the quick comment!