Add test model for the MBARI WEC buoy (float only).
This is a simplified version of the MBARI WEC buoy model from osrf/buoy_sim which only includes the float. The model sets the link origin at the buoy's water plane instead of the bridle attachment point as this means the BEM coefficients can be used without transformation.
The example highlights that there are still some issues to resolve in the linear-wave-body model. The simulation for regular waves T=6.0s, H=2m becomes unstable after approx. 50s. The breakdown appears to coincide with yaw drift, but needs to be confirmed/resolved.
Figure 1. MBARI buoy in Gazebo with regular waves.
Figure 2. Forces, positions and velocities up to 30s.
Figure 2. Forces, positions and velocities up to 60s. Instabilities set in as yaw drifts.
Add test model for the MBARI WEC buoy (float only).
This is a simplified version of the MBARI WEC buoy model from osrf/buoy_sim which only includes the float. The model sets the link origin at the buoy's water plane instead of the bridle attachment point as this means the BEM coefficients can be used without transformation.
BEM coefficients are from osrf/buoy_sim and have been saved to WEC-Sim HDF5 file format for use in the model.
The example highlights that there are still some issues to resolve in the linear-wave-body model. The simulation for regular waves T=6.0s, H=2m becomes unstable after approx. 50s. The breakdown appears to coincide with yaw drift, but needs to be confirmed/resolved.
Figure 1. MBARI buoy in Gazebo with regular waves.
Figure 2. Forces, positions and velocities up to 30s.
Figure 2. Forces, positions and velocities up to 60s. Instabilities set in as yaw drifts.