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Field-Robotics-Lab / dave

Project DAVE
Apache License 2.0
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Underwater Drag #290

Closed BALLLIKEPOPI closed 4 months ago

BALLLIKEPOPI commented 5 months ago

Hi, I'm working some underwater UAV control, and I am wondering if this simulator can simulate the water drag of the drone which may related to the velocity and the contact surface area of the drone, thanks!

woensug-choi commented 4 months ago

Yes, the hydrodynamic plugin is used that is inherited from https://uuvsimulator.github.io/packages/uuv_simulator/docs/api/gazebo::UnderwaterObjectPlugin/.

Where to mod:

https://github.com/Field-Robotics-Lab/dave/blob/e54ea16bdaf7d6dbb466cf141846a03f284a44dd/urdf/robots/glider_description/urdf/glider_hybrid_whoi.xacro#L114-L133

You may also want to use generic plugin for hydrodynamics. Read https://gazebosim.org/api/sim/8/theory_hydrodynamics.html

BALLLIKEPOPI commented 4 months ago

Yes, the hydrodynamic plugin is used that is inherited from https://uuvsimulator.github.io/packages/uuv_simulator/docs/api/gazebo::UnderwaterObjectPlugin/.

Where to mod:

https://github.com/Field-Robotics-Lab/dave/blob/e54ea16bdaf7d6dbb466cf141846a03f284a44dd/urdf/robots/glider_description/urdf/glider_hybrid_whoi.xacro#L114-L133

You may also want to use generic plugin for hydrodynamics. Read https://gazebosim.org/api/sim/8/theory_hydrodynamics.html

Thanks for the reply! I will check it out.