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Field-Robotics-Lab / sandwichboat

sandwichboat
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Verify and refine USV scale and dynamics. #3

Open bsb808 opened 2 years ago

bsb808 commented 2 years ago

Use Case

In PR #1 @crvogt noted that "Model is scaled up 10x as changing mass values causes the USV dynamics plugin to fail". I think this refers to the scale used in the <mesh> XML tags in the sandwitch.urdf.xacro file of the PR - see https://github.com/Field-Robotics-Lab/sandwichboat/pull/1/files#r872837966

Using the example launch file

roslaunch sandwich_gazebo sydney_sandwich.launch

we see that the USV meshes are 10 times larger than expected.

Symptoms

Will need @crvogt to fill this in. I'm not sure what "changing mass values causes the USV dynamics plugin to fail" is referring to? Are you saying that changing the <mass> value within the <link name="${namespace}/dummy_link"> tag of the sandwich.urdf.xacro file caused a failure? What was the evidence of failure - did Gazebo run?

What values caused the failure? Maybe create a branch so that folks can reproduce the failure.

Need more information to reproduce

Possible Solutions

We might leave this alone since the boats used in the experiment are going to be larger than the current mesh scale, but suggest that @matthewheubach come up with some reasonable values for the intertial values (see sandwich.urdf.xacro file and hydrodynamic coefficients (see sandwich_dynamics_plugin.xacro).

bsb808 commented 2 years ago

@crvogt - Please expand on the use case and symptoms, see above, so that @matthewheubach and I can reproduce what you are seeing.