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disaster-robotics-proalertas / usv_sim_lsa

Unmanned Surface Vehicle simulation on Gazebo with water current and winds
Apache License 2.0
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Water_displaced_mass calculation. #61

Open JordanGleesonQUT opened 2 years ago

JordanGleesonQUT commented 2 years ago

I am increasing the scale of the rudderboat to 1 so that it is about 5m in length to suit our purposes. Everything is working so far however I cannot seem to be able to find the right value for the buoyancy. How did you calculate the values for back_water_displaced_mass, middle_water_displaced_mass and front_water_displaced_mass.

Anything I calculate makes the boat bounce around wildly, and if I reduce it the boat just sinks, I can't seem to find that happy middle ground.

JordanGleesonQUT commented 2 years ago

I tried to numerically find the mass values by bringing the models into Blender to determine the volume below water level. The values I found are: back_water_displaced_mass = 356 middle_water_displaced_mass = 427 front_water_displaced_mass = 226 However the boat still bounces around wildly.