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gazebosim / gazebo-classic

Gazebo classic. For the latest version, see https://github.com/gazebosim/gz-sim
http://classic.gazebosim.org/
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Request: Enhance Aerodynamic Model #2909

Open moreba1 opened 3 years ago

moreba1 commented 3 years ago

Hi

currently, basic longitudinal aerodynamic variables depend on the angle of attack (cla , cda , cma) calculated and work good but there is a need to add lateral basic variables to the aerodynamic model. because wind force affects very more when a vehicle has a beta angle. These basic variables are needed: cd_b: for the drag force due to beta cy_b: for the directional force due to beta cn_b: for the yawing moment due to beta cl_b: for the rolling moment due to beta

traversaro commented 3 years ago

Not directly related, but it can be a useful info: if you need to a specific aerodynamic model, you can easily copy the code from https://github.com/osrf/gazebo/blob/gazebo11/plugins/LiftDragPlugin.hh and https://github.com/osrf/gazebo/blob/gazebo11/plugins/LiftDragPlugin.cc in a standalone repo and add the necessary terms you are interested in. This will give you full control on the aerodynamic model used.

For people interested in this, an alternative route is to develop an aerodynamic model in any environment you prefer (see https://github.com/traversaro/awesome-fmi) to use and export it as an FMU, and then load it in Gazebo using the FMISingleBodyFluidDynamicsPlugin Gazebo plugin, available at https://github.com/robotology/gazebo-fmi/tree/master/plugins/single-body-fluid-dynamics .