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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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Add thrusters and ArduPilot integration to WAM-V model #17

Closed srmainwaring closed 2 years ago

srmainwaring commented 2 years ago

This PR adds thrusters and ArduPilot integration to the WAM-V model.

The mesh files and configuration details are from the https://github.com/osrf/vrx project:

A set of parameters for ArduPilot Rover is provided. The frame is configured as a vectored thrust boat.

wam-v_tuning

bsb808 commented 2 years ago

@srmainwaring - very cool ArduPilot integration!

srmainwaring commented 2 years ago

Hi @bsb808, thanks!

There's been a bit of development on the ArduPilot side to upgrade the plugins and models to work with Ignition. The main plugin repo is now here:

https://github.com/ArduPilot/ardupilot_gazebo/tree/ignition-garden

and there are various models that work with ArduPilot and Ignition here:

https://github.com/ArduPilot/SITL_Models/tree/master/Ignition

Seems to be some interest in landing quad-planes and multi-copters on boats and ships from the ArduPilot devs at the moment, so I'm trying to knock the ocean sim back into shape.