Rigid-body Coriolis forces not included in the hydrodynamic model

uuvsimulator / uuv_simulator

Gazebo/ROS packages for underwater robotics simulation

https://uuvsimulator.github.io/

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Rigid-body Coriolis forces not included in the hydrodynamic model #352

Open Sollimann opened 5 years ago

Sollimann commented 5 years ago

According to Fossen's Robot-Like Vectorial Model for UUV (eq. 6.2 on page p.109) there should also be included a rigid-body Coriolis force, why is this not included?

Also, I cannot seem to find where the hydrostatic forces are computed. Where can I find this in the code?

Keep up the good work!

jlack1987 commented 5 years ago

The rigid body dynamics are handled by Gazebo. The plugin(s) provided by this package only add the hydrodynamics forces