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osrf / vrx

Virtual RobotX (VRX) resources.
Apache License 2.0
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Refining usv_gazebo_dynamics_plugin model #167

Open osrf-migration opened 5 years ago

osrf-migration commented 5 years ago

Original report (archived issue) by Anonymous.

Hi,

I noticed in the calculation of the buoyancy force in usv_gazebo_dynamics that the force saturates when deltaZ = hullRadius.

However, in the wamv model, the pontoons are simulated as cylinders instead of half cylinders. Hence, would the calculation of buoyancy force saturate when the entire cylinder is submerged, instead of when half the cylinder is submerged?

Separately, could I check what the parameter hullRadius refers to specifically? (i.e. radius of each pontoon)?

This is because I noticed also that the buoyancy force calculates the upthrust for a single pontoon instead of 2 pontoons, as shown in the wamv model

osrf-migration commented 5 years ago

Original comment by Brian Bingham (Bitbucket: brian_bingham).

Just wanted to let you know we are looking into this, but a bit swamped with the Phase 1 efforts at this point.

Thank you.

M1chaelM commented 2 years ago

This seems like it might be more of a bug than an enhancement, if we are not correctly implementing our model.