Changelog for package heron_gazebo

0.3.0 (2020-09-17)

• Add the UUV worlds dependency
• Rename "heron_sim" to "spawn_heron" for compatibility with the new simulation environments
• Tidy up the lake world a little, set the camera position so the initial view is a little nicer
• Add a second world, a lake with some islands (also copied from UUV Worlds so we can modify as-necessary for a surface-only vehicle)
• Add a copy of the world to make future modifications easier. Fix the initial camera position so that it puts the robot in-frame instead of starting underwater somewhere.
• Add all the scripts to the cmake file
• Remove the .py from the node scripts & update the launch file accordingly
• Use the new (not-deprecated) MagneticField messages for the imu filter, add a simple node to translate from the old Vector3Stamped to MagneticField messges
• Disable the mag data in the simulation; the imu filter is timing out waiting for data, which is disabling the heron_control node, making the robot permanently immobile. See RPSW-474.
• fixed location of worlds in launch file and readme
• Param tuning and constant thruster control being activated in simulation
• Added missing run dependencies
• Initialized twist_translate's zero message properly and ensured no issues with callbacks in nav_vel
• Fixed namespace functionality to allow empty namespaces
• Added custom spawning to heron_world.launch
• Fixed localization when heron has nonzero initial yaw
• New config file for simulation heron_controller params
• Fixed name+email in copyright notices
• Added NWU->ENU swapping here because it was removed from heron_control
• Fixed interactive marker's vel scaling and created new PID file for simulation
• Added translator for Vec3 to Twist for navsat/vel
• Changed covariance limits because simulated sensors are better than the actual sensors
• Removed mag_interpreter.py from CMakeLists.txt
• Fixed twist_translate.py to scale and publish Twist msgs
• Added script to convert navsat/vel from NED to ENU
• Fixed RViz interactive markers control
• Removed mag_interpreter.py because Gazebo's magnetometer is now used
• Prevented z, roll, and pitch of spawn location to be changed
• Added copyright notices to launch and script files
• Initial commit
• Contributors: Chris Iverach-Brereton, Guy Stoppi, Nirzvi1, Shreya Subramaniam