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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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Fix collision pose not accounted for in hydrodynamics plugin #36

Closed srmainwaring closed 2 years ago

srmainwaring commented 2 years ago

This PR fixes the incorrect pose being used for buoyancy calculations when there is an offset of the collision mesh from the link origin.

Fix #35

Test

The objects now float according to the collision mesh (mean position is halfway on the collision sphere) and the inertial is below the centre of pressure = centre of collision sphere.

gzsim_buoyancy_test_4_fix

https://user-images.githubusercontent.com/24916364/170700974-c6b3f3a5-7a1d-4b6a-90b9-17c32693c4f2.mov