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osrf / vrx

Virtual RobotX (VRX) resources.
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Increasing the Maximum Velocity of USV #776

Open MustafaBayrak1 opened 3 months ago

MustafaBayrak1 commented 3 months ago

Describe the bug Similar to this issue, I am trying to increase the speed of the USV.
https://github.com/osrf/vrx/issues/731 However, nothing works except changing the parameters in the wamv_gazebo_dynamic_plugin.xacro file. However, it alters the realism of the water surface, as expected.

I am using VRX Classic.

Expected behavior Trying to increase the maximum velocity the WAM-V can go

System Configuration: Tell us about your system.

Clinz-ZK commented 3 months ago

Did you solve the issue? And I also want to know how to increase the max speed of wamv on ROS2.

MustafaBayrak1 commented 3 months ago

Did you solve the issue? And I also want to know how to increase the max speed of wamv on ROS2.

I tried to solve it but it's easier to just migrate to ROS2 at this point.

To increase the max speed of wamv on ROS2, you can edit the wamv_gazebo_thruster_config.xacro file. I edited the max_velocity_mps and thrust_coefficient value and it works. You can publish higher thrust cmd and it goes faster.

Clinz-ZK commented 2 months ago

very thanks for your reply