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uji-ros-pkg / underwater_simulation

UWSim-NET, the Underwater Simulator
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Ocean surface physics #48

Closed vinayraousc closed 9 years ago

vinayraousc commented 9 years ago

Hey, I'm trying to use uwsim for simulation of a surface vessel. Is there any way to configure the scene to make the vessel react to the waves? I have enablePhysics=1, but there are no visible effects like buoyancy. Is this something that has already been implemented or will it be a useful feature for uwsim?

perezsolerj commented 9 years ago

Hi, Unfortunately we didn't have time to add buoyancy effects to objects, and underwater vehicle dynamics package only simulates buoyancy for vehicles and considers the vehicle a sphere (for buoyancy) when it's near the surface.

You can test this dynamics package launching "roslaunch underwater_vehicle_dynamics UWSim_g500_dynamics.launch" and move the vehicle pressing "wasd" and arrow keys (in the terminal window). But as I said doesn't seem realistic for vessel vehicles as it does not take into account waves and vehicle geometry.

Of course it would be a useful feature ;).