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bartboogmans / TurtleBoat

Compact vessel simulator on a single ROS node
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Weird physics during joystick experiment #1

Closed bartboogmans closed 1 year ago

bartboogmans commented 1 year ago

Something in the parameterization is wrong. The ships do not feel behaving as reality.

Mostly the fact that it seems course unstable is annoying.

image

Furthermore check non diagonals in dampening matrix. Mainly: The skeg should have made the vessel face in the direction of motion. Check why this is not happening.

bartboogmans commented 1 year ago

Overall; physics are probably working good, but just the parameterization of the example (Tito Neri) model is off.

bartboogmans commented 1 year ago

After some time playing around the behaviour is now more alike real vessels. Multiple things have been changed, and I do not dare to say exactly what fixed this without investigation. (parameterisation / signs of numbers in dampening matrix, removal of nonlinear/directional-dependent added mass)