From e4bec752ccefa73b9a3d42fc4afab30ad9bb6fb2 Mon Sep 17 00:00:00 2001
From: wingdeans <66850754+wingdeans@users.noreply.github.com>
Date: Mon, 22 Sep 2025 13:14:08 -0400
Subject: [PATCH] Improve simulation performance

- switches from rgb+depth camera to plain rgb camera
- limits buoyancy calculations to sub
---
 .../simulation/subjugator_description/urdf/xacro/camera.xacro | 2 +-
 .../simulation/subjugator_gazebo/worlds/robosub_2024.world    | 1 +
 .../simulation/subjugator_gazebo/worlds/task1_2025.world      | 1 +
 .../simulation/subjugator_gazebo/worlds/task2_2025.world      | 1 +
 .../subjugator_bringup/config/subjugator_bridge.yaml          | 4 ++--
 5 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/src/subjugator/simulation/subjugator_description/urdf/xacro/camera.xacro b/src/subjugator/simulation/subjugator_description/urdf/xacro/camera.xacro
index b8123fa1..567ecbd8 100644
--- a/src/subjugator/simulation/subjugator_description/urdf/xacro/camera.xacro
+++ b/src/subjugator/simulation/subjugator_description/urdf/xacro/camera.xacro
@@ -28,7 +28,7 @@
     </gazebo>
 
     <gazebo reference="${name}_link">
-      <sensor name="${name}_camera" type="rgbd_camera">
+      <sensor name="${name}_camera" type="camera">
         <update_rate>${fps}</update_rate>
         <visualize>true</visualize>
         <always_on>1</always_on>
diff --git a/src/subjugator/simulation/subjugator_gazebo/worlds/robosub_2024.world b/src/subjugator/simulation/subjugator_gazebo/worlds/robosub_2024.world
index 2ea475a5..c95bbaf3 100644
--- a/src/subjugator/simulation/subjugator_gazebo/worlds/robosub_2024.world
+++ b/src/subjugator/simulation/subjugator_gazebo/worlds/robosub_2024.world
@@ -50,6 +50,7 @@
           <density>1</density>
         </density_change>
       </graded_buoyancy>
+      <enable>sub9::base_link</enable>
     </plugin>
 
     <!-- Origin Placed in the middle of the woollet pool -->
diff --git a/src/subjugator/simulation/subjugator_gazebo/worlds/task1_2025.world b/src/subjugator/simulation/subjugator_gazebo/worlds/task1_2025.world
index acaa50c9..d11e9f57 100644
--- a/src/subjugator/simulation/subjugator_gazebo/worlds/task1_2025.world
+++ b/src/subjugator/simulation/subjugator_gazebo/worlds/task1_2025.world
@@ -50,6 +50,7 @@
           <density>1</density>
         </density_change>
       </graded_buoyancy>
+      <enable>sub9::base_link</enable>
     </plugin>
 
     <!-- Origin Placed in the middle of the woollet pool -->
diff --git a/src/subjugator/simulation/subjugator_gazebo/worlds/task2_2025.world b/src/subjugator/simulation/subjugator_gazebo/worlds/task2_2025.world
index fa2569e9..a10ebd3d 100644
--- a/src/subjugator/simulation/subjugator_gazebo/worlds/task2_2025.world
+++ b/src/subjugator/simulation/subjugator_gazebo/worlds/task2_2025.world
@@ -50,6 +50,7 @@
           <density>1</density>
         </density_change>
       </graded_buoyancy>
+      <enable>sub9::base_link</enable>
     </plugin>
 
     <!-- Origin Placed in the middle of the woollet pool -->
diff --git a/src/subjugator/subjugator_bringup/config/subjugator_bridge.yaml b/src/subjugator/subjugator_bringup/config/subjugator_bridge.yaml
index 0b43745c..731a4d00 100644
--- a/src/subjugator/subjugator_bringup/config/subjugator_bridge.yaml
+++ b/src/subjugator/subjugator_bringup/config/subjugator_bridge.yaml
@@ -66,12 +66,12 @@
 
   # Camera configuration.
 - ros_topic_name: "/front_cam/image_raw"
-  gz_topic_name: "/front_cam/image"
+  gz_topic_name: "/front_cam"
   ros_type_name: "sensor_msgs/msg/Image"
   gz_type_name: "gz.msgs.Image"
   direction: GZ_TO_ROS
 - ros_topic_name: "/down_cam/image_raw"
-  gz_topic_name: "/down_cam/image"
+  gz_topic_name: "/down_cam"
   ros_type_name: "sensor_msgs/msg/Image"
   gz_type_name: "gz.msgs.Image"
   direction: GZ_TO_ROS