Scferro/boat model

[scferro]

Solved Problem

Currently, there is no surface vehicle simulation in Ignition Gazebo, only in Gazebo Classic. This PR ports the USVDynamics plugin from Gazebo Classic and creates the sitl simulation for the boat.

Fixes PX4-gazebo-models Issue #110
Associated PX4-gazebo-models PR#112

Solution

Screencast.from.07-12-2025.02.59.24.PM.webm

• Add complete USV dynamics plugin for modern Gazebo with full 6-DOF hydrodynamics physics
• Port all physics calculations from Gazebo Classic including added mass matrix, linear/quadratic drag, grid-based buoyancy, and Coriolis effects
• Add boat airframe configuration (4025_gz_boat) with proper marine vehicle parameters
• Configure ESC failure detection bypass for marine vehicles
• Implement proper force application using modern Gazebo ExternalWorldWrenchCmd component

Changelog Entry

Feature: Modern Gazebo USV/Boat Simulation Support

• Ported USV dynamics plugin from Gazebo Classic to Gazebo Ignition
• Boat airframe (4025_gz_boat) for marine surface vehicle simulation in Ignition
• Proper buoyancy, drag, and added mass effects
  Documentation: Requires boat model from PX4-gazebo-models repository

Alternatives

We could also:

• Use Gazebo built in buoyancy plugin, however this does not support other surface dynamics such as the drag effects of water.

Test coverage

• Integration test: Plugin loads and applies forces without errors in gz-sim
• Simulation testing: Boat maintains proper buoyancy, responds to propeller thrust, exhibits realistic marine vehicle dynamics
• Physics validation: Behavior matches Gazebo Classic USV plugin implementation
• Hardware testing logs: N/A (simulation-only feature)

Context

This ports the existing boat simulation from Gazebo Classic to Gazebo Ignition, as Classic is now EOL.

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