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osrf / vrx

Virtual RobotX (VRX) resources.
Apache License 2.0
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Gazebo crashing with violent WAM-V motion #690

Closed M1chaelM closed 11 months ago

caguero commented 1 year ago

Update: I managed to reproduce the crash without hitting any buoys. I did it spinning the WAM-V violently while braking and accelerating again causing some pitching.

https://github.com/osrf/vrx/assets/1440739/24d7d62d-7c22-4345-b4c6-de8908fc614c

M1chaelM commented 1 year ago

While testing #692 I also managed to produce a crash in the acoustic tracking task world while moving relatively slowly. After a number of collisions the WAMV seems to destabilize and eventually tilts sideways under the water and crashes the simulation. A wild guess, but I wonder if this might also have something to do with the tuning of the drag coefficients, as described by @tejalbarnwal in #689 . The WAMV seems to be sitting high on the water and when the thrust is strong its movement seems strange.

caguero commented 11 months ago

See a workaround patch in #706 .

caguero commented 11 months ago

Fixed in #706