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IOES-Lab / dave

Project DAVE
Apache License 2.0
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What makes the glider being drifted? (same question asked on notion) #9

Closed woensug-choi closed 2 months ago

woensug-choi commented 2 months ago

@rakeshv24 Which part of the code make the glider being drifted? It could be helpful for @GauravKumar9920 on migration of ocean current plugin. The ocean wave model being used in the world sdf was only for visual unless https://github.com/srmainwaring/asv_wave_sim is ported.

rakeshv24 commented 2 months ago

@woensug-choi my immediate response is that the buoyancy plugin is causing the vehicle to move. However, when I adjust the vehicle's mass to make it neutrally buoyant as mentioned here, the drift doesn't appear as much. Additionally, we might need to use a better set of added mass values.

woensug-choi commented 2 months ago

Conversation continues at https://yeongdocat.notion.site/Under-water-Current-Dave-9905dc2a4ad54b6da0fceea023f7cf04?pvs=4