aquanaute_gazebo_dynamics_plugin.xacro 1.17 KB
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:macro name="usv_dynamics_gazebo" params="name">
    <!--Gazebo Plugin for simulating WAM-V dynamics-->
    <gazebo>
      <plugin name="usv_dynamics_${name}" filename="libusv_gazebo_dynamics_plugin.so">
        <bodyName>base_link</bodyName>
        <!-- Must be same as the ocean model!-->
        <waterLevel>0</waterLevel>
        <waterDensity>997.8</waterDensity>
        <!-- Added mass -->
        <xDotU>0.0</xDotU>
        <yDotV>0.0</yDotV>
        <nDotR>0.0</nDotR>
        <!-- Linear and quadratic drag -->
        <xU>51.3</xU>
        <xUU>72.4</xUU>
        <yV>40.0</yV>
        <yVV>0.0</yVV>
        <zW>500.0</zW>
        <kP>50.0</kP>
        <mQ>50.0</mQ>
        <nR>400.0</nR>
        <nRR>0.0</nRR>
        <!-- General dimensions -->
        <!--<boatArea>2.2</boatArea>-->
        <hullRadius>0.18</hullRadius>
        <boatWidth>1.8</boatWidth>
        <boatLength>3.0</boatLength>
        <!-- Length discretization, AKA, "N" -->
        <length_n>2</length_n>
        <!-- Wave model -->
        <wave_model>ocean_waves</wave_model>
      </plugin>
    </gazebo>
  </xacro:macro>
</robot>