Updates for 24.04/Jazzy/Harmonic

docs/docs/ROS2/cpp_api.md

@@ -31,6 +31,7 @@
  - power_callback
  - trefoil_callback
  - powerbuoy_callback
+ - latent_callback (SIM ONLY)
 
 Template argument: **ControllerImplCRTP** The concrete controller class that inherits from this
 interface. It must implement any callbacks or parameter-setting routines it needs.
@@ -120,6 +121,19 @@ public void Interface<ControllerImplCRTP>(const std::string & node_name, const b
 **check_for_services** If true, attempt to verify service availability before use.  
 
 
+### spin
+
+```cpp
+public void spin()
+```
+
+**brief** Sets up a `MultiThreadedExecutor` and spins the node (blocking).
+
+ If you need non-blocking control over program flow, you may skip calling this function, but a
+ `MultiThreadedExecutor` is required for this node. You may call non-blocking spin functions of a
+ `MultiThreadedExecutor` in your own loop.
+
+
 ### use_sim_time
 
 ```cpp
@@ -276,6 +290,54 @@ public shared_future send_pc_retract_command(const float & retract)
 **return** A future containing the service response.
 
 
+### get_inc_wave_height
+
+```cpp
+public buoy_interfaces::srv::IncWaveHeight::Response::SharedPtr get_inc_wave_height(
+  const float x,
+  const float y,
+  const float t,
+  const bool use_buoy_origin = false,
+  const bool use_relative_time = false
+)
+```
+
+*Defined at buoy_api_cpp/include/buoy_api/interface.hpp#1164*
+
+**brief** Get incident wave height at a single location and time
+
+**x** float meters, x component of wave height location  
+**y** float meters, y component of wave height location  
+**t** float seconds, sim time to evaluate wave height  
+**use_buoy_origin** boolean, (x,y) are relative to buoy location  
+**use_relative_time** boolean, t is relative to current sim time
+
+**return** vector of IncWaveHeight data (with a single index)
+
+```cpp
+public buoy_interfaces::srv::IncWaveHeight::Response::SharedPtr get_inc_wave_height(
+  const std::vector<float> x,
+  const std::vector<float> y,
+  const std::vector<float> t,
+  const bool use_buoy_origin = false,
+  const bool use_relative_time = false,
+  const float timeout = 2.0,
+  const bool use_callback = false
+)
+```
+
+**brief** Get incident wave height at multiple locations and times
+
+**x** std::vector<float> meters, x component of wave height location  
+**y** std::vector<float> meters, y component of wave height location  
+**t** std::vector<float> seconds, sim time to evaluate wave height  
+**use_buoy_origin** boolean, all (x,y) are relative to buoy location  
+**use_relative_time** boolean, all t are relative to current sim time
+
+**return** vector of IncWaveHeight data
+   */
+
+
 ### set_params
 
 ```cpp
@@ -363,3 +425,14 @@ protected void powerbuoy_callback(const buoy_interfaces::msg::PBRecord & )
 **brief** Override this function to subscribe to /powerbuoy_data to receive PBRecord telemetry.
 
 **data** Incoming PBRecord containing a slice of all microcontroller telemetry data.
+
+
+### latent_callback
+
+```cpp
+protected void latent_callback(const buoy_interfaces::msg::LatentData & )
+```
+**brief** Override this function to subscribe to /latent_data to receive LatentData sim-only data.
+
+**data** Incoming LatentData containing sim-only values e.g. losses, waves, etc.
+

docs/docs/ROS2/python_api.md

@@ -31,6 +31,7 @@ one, a subscriber for that topic will not be set up:
 - self.power_callback
 - self.trefoil_callback
 - self.powerbuoy_callback
+- self.latent_callback (sim only)
 
 <a id="buoy_api.interface.Interface.__init__"></a>
 
@@ -52,6 +53,20 @@ Initialize the Interface node.
 - `wait_for_services` (`bool`): if True and if check_for_services, block until all services are available
 - `kwargs`: additional keyword arguments forwarded to ROS 2 Node
 
+<a id="buoy_api.interface.Interface.spin"></a>
+
+#### spin
+
+```python
+def spin()
+```
+
+Sets up a `MultiThreadedExecutor` and spins the node (blocking).
+
+If you need non-blocking control over program flow, you may skip calling this function, but a
+`MultiThreadedExecutor` is required for this node. You may call non-blocking spin functions of a
+`MultiThreadedExecutor` in your own loop.
+
 <a id="buoy_api.interface.Interface.use_sim_time"></a>
 
 #### use\_sim\_time
@@ -218,6 +233,30 @@ Set additional damping gain in the piston retract direction.
 - `retract` (`float`): additional damping gain for retraction
 - `blocking` (`bool`): if True, wait for the service call to complete
 
+<a id="buoy_api.interface.Interface.get_inc_wave_height"></a>
+
+#### get\_inc\_wave\_height
+
+```python
+def get_inc_wave_height(self, x, y, t, use_buoy_origin, use_relative_time, timeout=2.0)
+```
+
+Request incident wave height at specific location(s) and time(s).
+
+**Arguments**:
+- `x` (`float` or `list`): x position(s) of desired wave height(s)
+- `y` (`float` or `list`): y position(s) of desired wave height(s)
+- `t` (`float` or `list`): t time(s) in seconds of sim time of desired wave height(s)
+- `use_buoy_origin` (`bool`): if True, x and y are relative to buoy origin
+- `use_relative_time` (`bool`): if True, desired time(s) are relative to current sim time
+                                else, time(s) will be absolute sim time
+- `timeout` (`float`): if not None, wait for timeout sec for the service call to complete
+                       else, wait forever
+
+**Returns**:
+- `list` of `IncWaveHeight` data
+
+
 <a id="buoy_api.interface.Interface.set_params"></a>
 
 #### set\_params
@@ -314,3 +353,17 @@ PBRecord contains a slice of all microcontroller's telemetry data
 
 - `data`: incoming PBRecord
 
+<a id="buoy_api.interface.Interface.latent_callback"></a>
+
+#### latent\_callback
+
+```python
+def latent_callback(self, data)
+```
+
+Override this function to subscribe to /latent_data to receive sim-only LatentData.
+
+**Arguments**:
+
+- `data`: incoming LatentData
+

docs/docs/Tutorials/Install/Install_docker.md

@@ -23,12 +23,12 @@ MBARI maintains Docker images for the two most recent releases on their DockerHu
 
 1. Get `run.bash` script.
    ```
-   git clone -b main https://github.com/osrf/mbari_wec.git
+   git clone -b andermi/jazzy_harmonic https://github.com/osrf/mbari_wec.git
    cd ~/mbari_wec/docker/
    ```
    Or
    ```
-   wget https://raw.githubusercontent.com/osrf/mbari_wec/main/docker/run.bash
+   wget https://raw.githubusercontent.com/osrf/mbari_wec/andermi/jazzy_harmonic/docker/run.bash
    chmod +x run.bash
    ```
 
@@ -53,7 +53,7 @@ is convenient if you would like to make any changes.
 
 1. Clone the mbari_wec repository to download the latest Dockerfile.
    ```
-   git clone -b main https://github.com/osrf/mbari_wec.git
+   git clone -b andermi/jazzy_harmonic https://github.com/osrf/mbari_wec.git
    cd ~/mbari_wec/docker/
    ```
 
@@ -115,4 +115,4 @@ collected in the sim will also be the same ROS 2 messages collected on the physi
    ```
 
 The simulation software should now be available.  To run and test, proceed to the
-[Run the Simulator](../../../tutorials/#running-the-simulator) tutorial series.
+[Run the Simulator](../../tutorials.md#running-the-simulator) tutorial series.