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osrf / vorc

Virtual Ocean Robot Challenge (VORC) resources
Apache License 2.0
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Cora vessel parameters - rough draft #4

Closed bsb808 closed 3 years ago

bsb808 commented 3 years ago

Customized inertia (rigid body) and hydro parameters for a general monohull of comparable size. Also adjusted the propulsion configuration so that the vessel moves at reasonable speeds. Moved visual/collision to approximate waterline at steady state.

Tested by driving around in the harbor with a gamepad.

 roslaunch vorc_gazebo marina.launch 
roslaunch vrx_gazebo usv_joydrive.launch namespace:=cora

Here is a video. https://vimeo.com/466080701

bsb808 commented 3 years ago

I think we decided to keep this repo simple and just have cora_description package, skipping cora_gazebo altogether. Do you think that still makes sense with the parameters added in this PR, or would it be too much clutter?

Sounds good to me. Since this is really simulation-only, it makes sense to put it all in cora_description. Do you mind to make the changes. I'm a bit slammed.

Looking at the video, the "trunk"'s bottom is still in the water. Do you want us to make the bottom higher in the model?

Yes - I do. I opened Issue #5 with a suggestion.

mabelzhang commented 3 years ago

Do you mind to make the changes. I'm a bit slammed.

Sure, no worries, we'll take care of it. Thank you!