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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 a New Ship Model in ROS Noetic, PX4, and Gazebo-11 #173

Closed kdtkd9587 closed 1 week ago

kdtkd9587 commented 2 weeks ago

Hello,

I am currently working in an environment with ROS Noetic, PX4 v1.14.0, and Gazebo-11 and am using your ASV wave simulation plugin (using the gazebo11 branch of your project). I am attempting to add a new ship model to the simulation, but I am encountering some difficulties.

I have a few questions:

  1. How did you obtain the mass and inertia values for the havyard model?

  2. Could you recommend parameter values for the hydrodynamics plugin that would be appropriate for this boat model?

  3. Have you previously implemented a simulation with Havyard or any similar ship model in PX4, Gazebo-11?

This is the download link for the ship model I am trying to add(havyard). (https://drive.google.com/file/d/1lTPc0LQvm2DJL2qI6vr8uaAX_9_Egz5E/view?usp=drive_link)

Thank you very much for your assistance!

srmainwaring commented 1 week ago

The Gazebo 11 branch of asv_wave_sim has not been updated for a long time - it’s effectively archived. Focus is on the newer versions of Gazebo, Garden and later and I’d recommend using these versions if you are able. Gazebo 11 is EOL in Jan 2025 and will not be available in newer Ubuntu distributions. For my part the main issue is the difficulty of running Gazebo 11 on macOS as it can no longer be built from source on that platform without extensive development.

This branch (https://github.com/srmainwaring/asv_wave_sim/tree/prs/demo/pr-ship-landing-v2-rebase) contains the Havyard model used in the ArduPilot ship landing demonstration shown in this clip: (https://drive.google.com/file/d/1Mg-HJoh79wKmfct2Wmw-gpArwge5IyLY/view?usp=sharing). There is more detail on this ArduPilot Discuss thread: https://discuss.ardupilot.org/t/ship-landing-ignition-simulation/80663

The mass of the ship is from online ship specs. The inertia matrix is an approximation - to all intents the ship is a large rectangle with a CoM low enough to make it stable. There is not a great deal of analysis beyond that as I was mostly interested using it as a large platform subject to wave motion. Similarly with the hydrodynamics coefficients - the values assigned are heuristic at best, not the result of detailed analysis. They can certainly be improved upon as the behaviour of the ship in simulation is not as well modelled as for say smaller craft.