USV visual model does not correspond to physical model

osrf / mbzirc

Simulator for the MBZIRC Maritime Grand Challenge

Apache License 2.0

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USV visual model does not correspond to physical model #197

Open jurajObradovic opened 2 years ago

jurajObradovic commented 2 years ago

It turns out that visual model together with thruster location (usv_base) is rotated 90 degrees in relation to the physical model of the vehicle. Measured top speeds and drag coefficients are far larger in the side motion then in the forward motion.

iche033 commented 2 years ago

the thruster rotation was adjusted in https://github.com/osrf/mbzirc/pull/179. We'll make another release soon. We'll keep the other params unchanged to avoid breaking people's code for now.

mandicLuka commented 2 years ago

The thruster rotation is fine, but the problem is that USV behaves very strangely. As @jurajObradovic said, we get top speed sideways that is many times larger then the top speed going forward