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patrykcieslak / stonefish

Stonefish - an advanced C++ simulation library designed for (but not limited to) marine robotics.
https://stonefish.readthedocs.io/
GNU General Public License v3.0
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Thruster model error? #22

Closed nistenius closed 3 years ago

nistenius commented 3 years ago

Describe the bug I'm experiencing a very odd behaviour with the thruster models. Regardless of rpm value 0 - 1000, the vehicle moves with approximately the same velocity. When changing the thruster coefficient, the velocity changes but the same behaviour with a constant speed, regardless of rpm value, is still there.

I'm running the simulator within the SMaRC ROS framework: https://github.com/smarc-project

I have tried to vary coefficients and max rpm settings but it does not change this behaviour.

Any thoughts on what this could be related to?

patrykcieslak commented 3 years ago

Hello! Please check what you are sending to the thrusters. The set point is in a range from -1 to 1, the rpm is controlled linearly between 0 (stopped) and 1 (max rpm).

nistenius commented 3 years ago

Thanks Patryk for quick reply,

Yes, that’s most likely the issue. We’ll update and get back to you regarding how it goes.

Best regards /Ivan

On 24 May 2021, at 09:11, Patryk Cieślak @.**@.>> wrote:

Hello! Please check what you are sending to the thrusters. The set point is in a range from -1 to 1, the rpm is controlled linearly between 0 (stopped) and 1 (max rpm).

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