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uuvsimulator / uuv_simulator

Gazebo/ROS packages for underwater robotics simulation
https://uuvsimulator.github.io/
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Is there hydrodynamics in the models? #364

Closed nm46nm closed 5 years ago

nm46nm commented 5 years ago

Is there hydrodynamics in the models? Or it is just a model of water and there's not hydrodynamics? If there is hydrodynamics, where can I find corresponding codes?

Sollimann commented 5 years ago

Rigid-Body kinetics are already included in Gazebo: Rigid-body kinetics are: M_RB v_dot + C_RB v = tau_RB

Hydrodynamics and hydrodynamic damping are added through the uuv_simulator: -M_A vr_dot - C_A vr - D * vr = tau_hydro

Hydrostatics g(n) are included through free-floating plugin

amamory commented 5 years ago

for hydrodynamics for USV (winds and water current) you might take a look a this project https://github.com/disaster-robotics-proalertas/usv_sim_lsa We have plans to support UAVs with winds 'soon'. It does not support UUV yet and there is no near future plan to include it.

musamarcusso commented 5 years ago

The underwater object plugin might be what you are looking for: https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_gazebo_plugins/uuv_gazebo_ros_plugins/src/UnderwaterObjectROSPlugin.cc

nm46nm commented 5 years ago

The underwater object plugin might be what you are looking for: https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_gazebo_plugins/uuv_gazebo_ros_plugins/src/UnderwaterObjectROSPlugin.cc

I found uuv_simulator/uuv_gazebo_plugins/uuv_gazebo_plugins/src/HydrodynamicModel.cc and I think it's about hydrodynamics. Thanks for your reply and I will have a look of UnderwaterObjectROSPlugin.cc as well.