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srmainwaring / asv_wave_sim

This package contains plugins that support the simulation of waves and surface vessels in Gazebo.
GNU General Public License v3.0
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Adding Water Current to FFT Wave Sim #163

Open ConnorDTaylor opened 2 months ago

ConnorDTaylor commented 2 months ago

Hi Rhys,

I am looking at adding additional horizontal velocity or force, which could be used to roughly model the effect of a current in the simulation environment. At present, the simulation shows the expected elliptical behavior, in involved a small amount of horizontal motion, to the wave system. But, if I wanted to show the effects of a more significant water current is there a way to add a constant value to simulate a current?

Thanks,

Connor

ConnorDTaylor commented 1 month ago

As a workaround, I tried to use the velocity control plugin to translate the model as a constant velocity. This approach worked to translate the visual model but not the actual wave collision. Is this the expected behaviour? Why would the collision of the wave not be tired to model position?