Airflow/Wind sensor

CMakeLists.txt

@@ -139,6 +139,7 @@ gz_find_package(gz-sensors7 REQUIRED VERSION 7.1
   # component order is important
   COMPONENTS
     # non-rendering
+    air_flow
     air_pressure
     air_speed
     altimeter

examples/worlds/sensors.sdf

@@ -136,6 +136,27 @@
             </vertical_velocity>
           </altimeter>
         </sensor>
+        <sensor name="air_flow" type="air_flow">
+          <always_on>1</always_on>
+          <update_rate>10</update_rate>
+          <visualize>true</visualize>
+          <topic>air_flow</topic>
+          <enable_metrics>true</enable_metrics>
+          <air_flow>
+            <speed>
+              <noise type="gaussian">
+                <mean>0.2</mean>
+                <stddev>0.1</stddev>
+              </noise>
+            </speed>
+            <direction>
+              <noise type="gaussian">
+                <mean>0.2</mean>
+                <stddev>0.1</stddev>
+              </noise>
+            </direction>
+          </air_flow>
+        </sensor>
         <sensor name="air_pressure" type="air_pressure">
           <always_on>1</always_on>
           <update_rate>30</update_rate>

include/gz/sim/components/AirFlowSensor.hh

@@ -0,0 +1,46 @@
+/*
+ * Copyright (C) 2023 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+#ifndef GZ_SIM_COMPONENTS_AIRFLOW_HH_
+#define GZ_SIM_COMPONENTS_AIRFLOW_HH_
+
+#include <sdf/Sensor.hh>
+
+#include <gz/sim/components/Factory.hh>
+#include <gz/sim/components/Component.hh>
+#include <gz/sim/components/Serialization.hh>
+#include <gz/sim/config.hh>
+
+namespace gz
+{
+namespace sim
+{
+// Inline bracket to help doxygen filtering.
+inline namespace GZ_SIM_VERSION_NAMESPACE {
+namespace components
+{
+  /// \brief A component type that contains an air flow sensor,
+  /// sdf::AirFlow, information.
+  using AirFlowSensor = Component<sdf::Sensor, class AirFlowSensorTag,
+      serializers::SensorSerializer>;
+  GZ_SIM_REGISTER_COMPONENT("gz_sim_components.AirFlowSensor",
+      AirFlowSensor)
+}
+}
+}
+}
+
+#endif

src/Conversions.cc

@@ -46,6 +46,7 @@
 
 #include <sdf/Actor.hh>
 #include <sdf/Atmosphere.hh>
+#include <sdf/AirFlow.hh>
 #include <sdf/AirPressure.hh>
 #include <sdf/AirSpeed.hh>
 #include <sdf/Altimeter.hh>

src/SdfEntityCreator.cc

@@ -33,6 +33,7 @@
 #include "gz/sim/components/components.hh"
 #else
 #include "gz/sim/components/Actor.hh"
+#include "gz/sim/components/AirFlowSensor.hh"
 #include "gz/sim/components/AirPressureSensor.hh"
 #include "gz/sim/components/AirSpeedSensor.hh"
 #include "gz/sim/components/Altimeter.hh"
@@ -994,6 +995,19 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Sensor *_sensor)
     this->dataPtr->ecm->CreateComponent(sensorEntity,
         components::WideAngleCamera(*_sensor));
   }
+  else if (_sensor->Type() == sdf::SensorType::AIR_FLOW)
+  {
+    this->dataPtr->ecm->CreateComponent(sensorEntity,
+        components::AirFlowSensor(*_sensor));
+
+    // create components to be filled by physics
+    this->dataPtr->ecm->CreateComponent(sensorEntity,
+        components::WorldPose(math::Pose3d::Zero));
+    this->dataPtr->ecm->CreateComponent(sensorEntity,
+        components::WorldLinearVelocity(math::Vector3d::Zero));
+    this->dataPtr->ecm->CreateComponent(sensorEntity,
+        components::WorldAngularVelocity(math::Vector3d::Zero));
+  }
   else if (_sensor->Type() == sdf::SensorType::AIR_PRESSURE)
   {
     this->dataPtr->ecm->CreateComponent(sensorEntity,

src/SdfGenerator.cc

@@ -26,6 +26,7 @@
 #include <gz/common/URI.hh>
 
 #include "gz/sim/Util.hh"
+#include "gz/sim/components/AirFlowSensor.hh"
 #include "gz/sim/components/AirPressureSensor.hh"
 #include "gz/sim/components/AirSpeedSensor.hh"
 #include "gz/sim/components/Altimeter.hh"
@@ -716,6 +717,15 @@ namespace sdf_generator
       _elem = contactComp->Data();
       return updateSensorNameAndPose();
     }
+    // air flow
+    auto airFlowComp =
+        _ecm.Component<components::AirFlowSensor>(_entity);
+    if (airFlowComp)
+    {
+      const sdf::Sensor &sensor = airFlowComp->Data();
+      _elem->Copy(sensor.ToElement());
+      return updateSensorNameAndPose();
+    }
     // air pressure
     auto airPressureComp =
         _ecm.Component<components::AirPressureSensor>(_entity);

src/systems/CMakeLists.txt

@@ -97,6 +97,7 @@ endfunction()
 add_subdirectory(ackermann_steering)
 add_subdirectory(acoustic_comms)
 add_subdirectory(advanced_lift_drag)
+add_subdirectory(air_flow)
 add_subdirectory(air_pressure)
 add_subdirectory(air_speed)
 add_subdirectory(altimeter)