search

Intelligent-Quads / iq_sim

example gazebo ardupilot simulation package
MIT License
108 stars 76 forks source link

Boat demo #5

Open tomlogan501 opened 3 years ago

tomlogan501 commented 3 years ago

Hi, I test your simulation with the boat and it pops 2 boats and sinks them xD.

Is there a configuration to enable the USV plugin ? I can also use the VRX repository if needed.

Do you use the ardupilotplugin in Gazebo-9 ? I can see in the code you try ArdupilotCopter plugin (on boat branch).

I would like to test it with one of our boat (same size as WAMV)

ericjohnson97 commented 3 years ago

My simulation is built on the USV plugin which is found within the px4 sitl_gazebo repository. make sure to follow these instructions here https://github.com/Intelligent-Quads/iq_sim/blob/master/docs/boat_setup.md#6-setup-libgazebo_usv_dynamics_plugin

and also make sure to add export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:$HOME/src/sitl_gazebo/build to your bashrc and to source it for use in the same terminal.

tomlogan501 commented 3 years ago

Seems that I didn't replace the plugin path Now it works quite well

image

Do you had any PID/NAV params ? Also WP_SPEED is null in your params.

ericjohnson97 commented 3 years ago

to be completely honest. I've put the boat project on hold for the time being, and I didn't do too much tuning. I was able to get to track much better after turning down the speed and, tweaking a few other params I found on this page. https://ardupilot.org/rover/docs/rover-tuning-steering-rate.html. I never, got it perfect, but it was ok. next time I boot up my ubuntu side of my desktop I can take a look for you

tomlogan501 commented 3 years ago

Yeah the link you provide is the basic tuning I use most of the time. Tell me when you switch to the ubuntu "good" side :)