How to enable angular motion of the uuv models in Gazebo?

[Gowresh7]

I am simulating the LAUV model in gazebo with teleop through joystick. What I noticed was that the model never undergoes angular motion, i.e., It only either translates to the left or right instead of changing its heading towards the direction (Screenshot attached)

How to enable the model with angular motions?

[brschettini]

Hi,

Could you kindly share you urdf?

[Gowresh7]

The following are my description files of LAUV model:-

1. base.xacro:- `<?xml version="1.0"?>

   s false lauv/base_link

`

2. actuators.xacro:-

`<?xml version="1.0"?>

` 3. gazebo.xacro:- ` 0 ${lauv_volume} ${lauv_width} ${lauv_length} ${lauv_height} ${lauv_cob} fossen 1 0 0 0 0 0 0 16 0 0 0 0 0 0 16 0 0 0 0 0 0 0.005 0 0 0 0 0 0 1.3 0 0 0 0 0 0 1.3 -2.4 0 0 0 0 0 0 -23 0 0 0 11.5 0 0 -23 0 -11.5 0 0 0 0 -0.3 0 0 0 0 3.1 0 -9.7 0 0 -3.1 0 0 0 -9.7 0 0 0 0 0 0 -2.4 0 0 0 0 0 0 -80 0 0 0 0.3 0 0 -80 0 -0.3 0 0 0 0 -0.0006 0 0 0 0 1.5 0 -9.1 0 0 -1.5 0 0 0 -9.1 ` 4. sensors.xacro:- ` 30.0 1.3962634 800 800 R8G8B8 0.02 300 gaussian 0.0 0.007 true 0.0 /mybot/camera1 image_raw camera_info camera_link 0.07 0.0 0.0 0.0 0.0 0.0 ` 5. snippets.xacro:- ` ${robot_namespace}/thruster_${thruster_id} ${robot_namespace}/thruster_${thruster_id}_joint ${thruster_id} 1 -3000 3000 -50 50 1 1 FirstOrder 0.05 Basic 0.0002 false `

[Gowresh7]

Hi @brschettini, I hope this is what you had asked for.

[Gowresh7]

@brschettini Is there a way to bring in the angular motion functionality?

[nitianlei984]

@Gowresh7 Hi, did you solve this problem?