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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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Wave Body: add publisher for added mass force #75

Closed srmainwaring closed 1 year ago

srmainwaring commented 1 year ago

Add a publisher for the added mass force.

Added mass forces are computed implicitly in the physics engine by combining the added mass inertial tensor with the spatial inertial tensor. This change publishes the estimated forces for analysis.