U2IS / aquanaute

Commit 5140bb7f957433e9a7073649c4cb612031dc5a19

Authored by Ricardo Rico Uribe
1 parent bb89241c

general order and small fixes - missing fix for ardupilot gazebo error where mot… 

…ors turn without control
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1 # Aquanaute 1 # Aquanaute
2 2
3 -Repository to simulate the Aquanaute boat in maritime conditions such as wind and waves with the plugins created for the VRX and VRX-Challenge in Gazebo and ROS. 3 +Repository to simulate the Aquanaute boat in maritime conditions such as wind and waves and with autopilot provided by ardupilot, using the plugins created for the VRX and VRX-Challenge in Gazebo and ROS and the plugin ardupilot-gazebo.
  4 +
  5 +---
4 6
5 ## Installation 7 ## Installation
6 8
7 * Clone this repo to a Catkin Workspace 9 * Clone this repo to a Catkin Workspace
8 10
9 -* Clone the VRX repo (hosted at ensta) to the same Workspace (http://git-u2is.ensta.fr/ssh/vrx) and checkout to the branch "aquanaute" 11 +* Clone the VRX repo (hosted at ensta) to the same Workspace (<http://git-u2is.ensta.fr/ssh/vrx>) and change to the branch "aquanaute"
  12 +
  13 +### ardupilot parameters
  14 +
  15 +in the file "vehiculeinfo.py" (/ardupilot/Tools/autotest/pysim) you need to change the default parameters file for the "gazebo-rover" in line 280 to the aquanaute.parm file provided in /aquanaute/aquanaute_description/ardu_params you can copy and paste the file in the default_params folder located inside (/ardupilot/Tools/autotest).
  16 +*There is an error when you launch ardupilot, the motors in the gazebo simulation will start to turn in a fixed direction and wont respond to commands, this issue has not yet been fixed and it's root cause it's not yet defined, it may be the ardupilot_gazebo plugin or the ardupilot frame*
  17 +
  18 +---
10 19
11 ## Usage 20 ## Usage
  21 +
12 ### modify wind and waves 22 ### modify wind and waves
13 - in the ocean.world.xacro (/vrx_gazebo/worlds) you have  
14 - ```xml  
15 - <!--Waves-->  
16 - <xacro:include filename="$(find wave_gazebo)/world_models/ocean_waves/model.xacro"/>  
17 - <xacro:ocean_waves gain="0.0" period="5" direction_x="-1.0" direction_y="0.0" angle="0.0"/>  
18 -  
19 - <!--Wind-->  
20 - <xacro:include filename="$(find vrx_gazebo)/worlds/xacros/usv_wind_plugin.xacro"/>  
21 - <xacro:usv_wind_gazebo direction="90" mean_vel="0" var_gain="5" var_time="1">  
22 - <wind_objs>  
23 - <wind_obj>  
24 - <name>wamv</name>  
25 - <link_name>base_link</link_name>  
26 - <coeff_vector>0.5 0.5 0.33</coeff_vector>  
27 - </wind_obj>  
28 - </wind_objs>  
29 - </xacro:usv_wind_gazebo>  
30 - ```  
31 - it is configured to have no waves and no wind, also the wind and the waves move in the same direction, to activate wind and waves change the "mean_vel" and "gain" parameters respectively (recomended values are smaller than 1.0). 23 +
  24 +in the ocean.world.xacro (/vrx_gazebo/worlds) you have
  25 +
  26 + <!--Waves-->
  27 + <xacro:include filename="$(find wave_gazebo)/world_models/ocean_waves/model.xacro"/>
  28 + <xacro:ocean_waves gain="0.0" period="5" direction_x="-1.0" direction_y="0.0" angle="0.0"/>
  29 +
  30 + <!--Wind-->
  31 + <xacro:include filename="$(find vrx_gazebo)/worlds/xacros/usv_wind_plugin.xacro"/>
  32 + <xacro:usv_wind_gazebo direction="90" mean_vel="0" var_gain="5" var_time="1">
  33 + <wind_objs>
  34 + <wind_obj>
  35 + <name>wamv</name>
  36 + <link_name>base_link</link_name>
  37 + <coeff_vector>0.5 0.5 0.33</coeff_vector>
  38 + </wind_obj>
  39 + </wind_objs>
  40 + </xacro:usv_wind_gazebo>
  41 +
  42 +It is configured to have no waves and no wind, also the wind and the waves move in the same direction, to activate wind and waves change the "mean_vel" and "gain" parameters respectively (recomended values are smaller than 1.0).
  43 +Even when these values are set to 0, the boat will move from right to left.
  44 +
  45 +---
32 46
33 ### run 47 ### run
34 -in the workspace run the command at the beginning (and every time you change a parameter)  
35 48
36 - ```bash  
37 - catkin_make  
38 - ``` 49 +#### compilation
  50 +
  51 +in the workspace run the command at the beginning (and every time you change a parameter in the vrx xacros)
  52 +
  53 + catkin_make
  54 +
  55 +#### gazebo simulation
39 56
40 then launch the file you created 57 then launch the file you created
41 58
42 - ```bash  
43 - roslaunch aquanaute_gazebo aquanaute.launch testing:=false  
44 - ```  
45 - this parameter can be changed to true to deactivate the plugins from vrx (the world will be changed to an empty world) 59 + roslaunch aquanaute_gazebo aquanaute.launch testing:=false
  60 +
  61 +this parameter can be changed to true to deactivate the plugins from vrx (the world will be changed to an empty world without gravity)
  62 +
  63 +#### ardupilot
46 64
47 on another terminal (inside the ardupilot root) run 65 on another terminal (inside the ardupilot root) run
48 - ```bash  
49 - ./Tools/autotest/sim_vehicle.py --vehicle=Rover --frame=sailboat-motor --map --console --location=Xlac  
50 - ```  
51 66
52 -## Author  
53 -Ricardo RICO URIBE intern at U2IS in the summer of 2020 67 + ./Tools/autotest/sim_vehicle.py -v APMrover2 -f gazebo-rover --map --console -l 48.71603264538473,2.213283777236939,155,0
54 68
55 -## License 69 +---
56 70
  71 +## Author
57 72
  73 +Ricardo RICO URIBE intern at U2IS in the summer of 2020
aquanaute_description/ardu_params/aquanaute.parm 0 → 100644
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@@ -0,0 +1,6 @@ @@ -0,0 +1,6 @@
  1 +FRAME_CLASS 2
  2 +AHRS_ORIENTATIONM 0
  3 +GCS_PID_MASK 1
  4 +SERVO1_FUNCTION 26
  5 +SERVO3_FUNCTION 70
  6 +ARMING_CHECK 0
aquanaute_description/urdf/aquanaute_description.urdf.xacro
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@@ -212,7 +212,8 @@ @@ -212,7 +212,8 @@
212 <child link="motor_link"/> 212 <child link="motor_link"/>
213 <origin xyz="-0.91 0.0 -0.09" rpy="0 0 0"/> 213 <origin xyz="-0.91 0.0 -0.09" rpy="0 0 0"/>
214 <axis xyz="0 0 1"/> 214 <axis xyz="0 0 1"/>
215 - <limit effort="1" velocity="1" lower="-0.9" upper="0.9"/> 215 + <limit effort="-1" velocity="-1" lower="-0.9" upper="0.9"/>
  216 + <dynamics damping="0.0000001"/>
216 </joint> 217 </joint>
217 218
218 <joint name="propeller_motor_joint" type="revolute"> 219 <joint name="propeller_motor_joint" type="revolute">
@@ -220,7 +221,8 @@ @@ -220,7 +221,8 @@
220 <child link="propeller_link"/> 221 <child link="propeller_link"/>
221 <origin xyz="-0.265 0 -0.42" rpy="0 0 0"/> 222 <origin xyz="-0.265 0 -0.42" rpy="0 0 0"/>
222 <axis xyz="1 0 0"/> 223 <axis xyz="1 0 0"/>
223 - <limit effort="1" velocity="1" lower="-1e+16" upper="1e+16"/> 224 + <limit effort="-1" velocity="-1" lower="-1e+16" upper="1e+16"/>
  225 + <dynamics damping="0.0000001"/>
224 </joint> 226 </joint>
225 227
226 <joint name="sensor_frame_platform_joint" type="fixed"> 228 <joint name="sensor_frame_platform_joint" type="fixed">
aquanaute_description/urdf/tmp.urdf deleted
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@@ -1,281 +0,0 @@ @@ -1,281 +0,0 @@
1 -<?xml version="1.0" encoding="utf-8"?>  
2 -<!-- =================================================================================== -->  
3 -<!-- | This document was autogenerated by xacro from aquanaute_description.urdf.xacro | -->  
4 -<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->  
5 -<!-- =================================================================================== -->  
6 -<robot name="aquanaute">  
7 - <material name="blue">  
8 - <color rgba="0 0 0.8 1"/>  
9 - </material>  
10 - <material name="red">  
11 - <color rgba="0.8 0 0 1"/>  
12 - </material>  
13 - <material name="green">  
14 - <color rgba="0 0.8 0 0.5"/>  
15 - </material>  
16 - <material name="cyan">  
17 - <color rgba="0 0.6 0.6 1"/>  
18 - </material>  
19 - <material name="yellow">  
20 - <color rgba="0.8 0.8 0 1"/>  
21 - </material>  
22 - <material name="purple">  
23 - <color rgba="0.5 0 0.5 1"/>  
24 - </material>  
25 - <material name="white">  
26 - <color rgba="1 1 1 1"/>  
27 - </material>  
28 - <material name="gray">  
29 - <color rgba="0.35 0.35 0.35 1"/>  
30 - </material>  
31 - <material name="black">  
32 - <color rgba="0 0 0 1"/>  
33 - </material>  
34 - <!-- * * * Link Definitions * * * -->  
35 - <link name="base_link">  
36 - <visual>  
37 - <origin rpy="0.0 0 0" xyz="0 0 0"/>  
38 - <geometry>  
39 - <sphere radius="0.001"/>  
40 - </geometry>  
41 - <material name="blue"/>  
42 - </visual>  
43 - </link>  
44 - <link name="platform_link">  
45 - <inertial>  
46 - <origin rpy="0 0 0" xyz="-0.024 0 -0007"/>  
47 - <mass value="16"/>  
48 - <inertia ixx="4.206" ixy="0.0" ixz="-0.031" iyy="4.588" iyz="0.0" izz="8.785"/>  
49 - </inertial>  
50 - <collision>  
51 - <origin rpy="0 0 0" xyz="0 0 0"/>  
52 - <geometry>  
53 - <mesh filename="package://aquanaute_description/models/meshes/Platform.stl"/>  
54 - </geometry>  
55 - </collision>  
56 - <visual>  
57 - <origin rpy="0.0 0 0" xyz="0 0 0"/>  
58 - <geometry>  
59 - <mesh filename="package://aquanaute_description/models/meshes/Platform.stl"/>  
60 - </geometry>  
61 - <material name="yellow"/>  
62 - </visual>  
63 - </link>  
64 - <link name="right_hull_link">  
65 - <inertial>  
66 - <origin rpy="0 0 0" xyz="-0.124 0 -0.168"/>  
67 - <mass value="10.45"/>  
68 - <inertia ixx="0.244" ixy="3.346" ixz="0.009" iyy="4.974" iyz="-8.274" izz="4.965"/>  
69 - </inertial>  
70 - <collision>  
71 - <origin rpy="0 0 0" xyz="0 0 0"/>  
72 - <geometry>  
73 - <mesh filename="package://aquanaute_description/models/meshes/Hull.stl"/>  
74 - </geometry>  
75 - </collision>  
76 - <visual>  
77 - <origin rpy="0.0 0 0" xyz="0 0 0"/>  
78 - <geometry>  
79 - <mesh filename="package://aquanaute_description/models/meshes/Hull.stl"/>  
80 - </geometry>  
81 - <material name="red"/>  
82 - </visual>  
83 - </link>  
84 - <link name="left_hull_link">  
85 - <inertial>  
86 - <origin rpy="0 0 0" xyz="-0.124 0 -0.168"/>  
87 - <mass value="10.45"/>  
88 - <inertia ixx="0.244" ixy="3.346" ixz="0.009" iyy="4.974" iyz="-8.274" izz="4.965"/>  
89 - </inertial>  
90 - <collision>  
91 - <origin rpy="0 0 0" xyz="0 0 0"/>  
92 - <geometry>  
93 - <mesh filename="package://aquanaute_description/models/meshes/Hull.stl"/>  
94 - </geometry>  
95 - </collision>  
96 - <visual>  
97 - <origin rpy="0.0 0 0" xyz="0 0 0"/>  
98 - <geometry>  
99 - <mesh filename="package://aquanaute_description/models/meshes/Hull.stl"/>  
100 - </geometry>  
101 - <material name="red"/>  
102 - </visual>  
103 - </link>  
104 - <link name="motor_link">  
105 - <inertial>  
106 - <origin rpy="0 0 0" xyz="-0.133 0 -0.391"/>  
107 - <mass value="6.6"/>  
108 - <inertia ixx="0.072" ixy="3.604" ixz="-0.011" iyy="0.111" iyz="5.484" izz="0.042"/>  
109 - </inertial>  
110 - <collision>  
111 - <origin rpy="0 0 0" xyz="0 0 0"/>  
112 - <geometry>  
113 - <mesh filename="package://aquanaute_description/models/meshes/Motor.stl"/>  
114 - </geometry>  
115 - </collision>  
116 - <visual>  
117 - <origin rpy="0.0 0 0" xyz="0 0 0"/>  
118 - <geometry>  
119 - <mesh filename="package://aquanaute_description/models/meshes/Motor.stl"/>  
120 - </geometry>  
121 - <material name="purple"/>  
122 - </visual>  
123 - </link>  
124 - <link name="propeller_link">  
125 - <collision>  
126 - <origin rpy="0 0 0" xyz="0 0 0"/>  
127 - <geometry>  
128 - <cylinder length="0.04" radius="0.05"/>  
129 - </geometry>  
130 - </collision>  
131 - <visual>  
132 - <origin rpy="0 0 0" xyz="0 0 0"/>  
133 - <geometry>  
134 - <cylinder length="0.02" radius="0.01"/>  
135 - </geometry>  
136 - <material name="green"/>  
137 - </visual>  
138 - </link>  
139 - <link name="sensor_frame_link">  
140 - <inertial>  
141 - <origin rpy="0 0 0" xyz="-0.007 0 0.379"/>  
142 - <mass value="1.8"/>  
143 - <inertia ixx="0.308" ixy="0.00" ixz="0.007" iyy="0.297" iyz="0.00" izz="0.022"/>  
144 - </inertial>  
145 - <collision>  
146 - <origin rpy="0 0 0" xyz="0 0 0"/>  
147 - <geometry>  
148 - <mesh filename="package://aquanaute_description/models/meshes/sensor_frame.stl"/>  
149 - </geometry>  
150 - </collision>  
151 - <visual>  
152 - <origin rpy="0.0 0 0" xyz="0 0 0"/>  
153 - <geometry>  
154 - <mesh filename="package://aquanaute_description/models/meshes/sensor_frame.stl"/>  
155 - </geometry>  
156 - <material name="cyan"/>  
157 - </visual>  
158 - </link>  
159 - <!-- * * * Joint Definitions * * * -->  
160 - <joint name="platform_base_joint" type="fixed">  
161 - <parent link="base_link"/>  
162 - <child link="platform_link"/>  
163 - <origin rpy="0 0 0" xyz="0 0 0.35"/>  
164 - </joint>  
165 - <joint name="right_hull_platform_joint" type="fixed">  
166 - <parent link="platform_link"/>  
167 - <child link="right_hull_link"/>  
168 - <origin rpy="0 0 0" xyz="-0.05 -0.7 -0.036"/>  
169 - </joint>  
170 - <joint name="left_hull_platform_joint" type="fixed">  
171 - <parent link="platform_link"/>  
172 - <child link="left_hull_link"/>  
173 - <origin rpy="0 0 0" xyz="-0.05 0.7 -0.036"/>  
174 - </joint>  
175 - <joint name="motor_platform_joint" type="revolute">  
176 - <parent link="platform_link"/>  
177 - <child link="motor_link"/>  
178 - <origin rpy="0 0 0" xyz="-0.91 0.0 -0.09"/>  
179 - <axis xyz="0 0 1"/>  
180 - <limit effort="-1" lower="-0.9" upper="0.9" velocity="-1"/>  
181 - </joint>  
182 - <joint name="propeller_motor_joint" type="revolute">  
183 - <parent link="motor_link"/>  
184 - <child link="propeller_link"/>  
185 - <origin rpy="0 1.57 0" xyz="-0.28 0 -0.42"/>  
186 - <axis xyz="0 0 1"/>  
187 - <limit effort="-1" lower="-1e+12" upper="1e+12" velocity="-1"/>  
188 - </joint>  
189 - <joint name="sensor_frame_platform_joint" type="fixed">  
190 - <parent link="platform_link"/>  
191 - <child link="sensor_frame_link"/>  
192 - <origin rpy="0 0 0" xyz="-0.55 0.0 0.0"/>  
193 - </joint>  
194 - <!-- * * * GAZEBO Definitions * * * -->  
195 - <gazebo reference="base_link">  
196 - <kp>100000.0</kp>  
197 - <kd>100000.0</kd>  
198 - <mu1>10.0</mu1>  
199 - <mu2>10.0</mu2>  
200 - <material>Gazebo/Grey</material>  
201 - </gazebo>  
202 - <gazebo reference="platform_link">  
203 - <kp>100000.0</kp>  
204 - <kd>100000.0</kd>  
205 - <mu1>10.0</mu1>  
206 - <mu2>10.0</mu2>  
207 - <material>Gazebo/Grey</material>  
208 - </gazebo>  
209 - <gazebo reference="right_hull_link">  
210 - <kp>100000.0</kp>  
211 - <kd>100000.0</kd>  
212 - <mu1>10.0</mu1>  
213 - <mu2>10.0</mu2>  
214 - <material>Gazebo/Red</material>  
215 - </gazebo>  
216 - <gazebo reference="left_hull_link">  
217 - <kp>100000.0</kp>  
218 - <kd>100000.0</kd>  
219 - <mu1>10.0</mu1>  
220 - <mu2>10.0</mu2>  
221 - <material>Gazebo/Red</material>  
222 - </gazebo>  
223 - <gazebo reference="motor_link">  
224 - <kp>100000.0</kp>  
225 - <kd>100000.0</kd>  
226 - <mu1>10.0</mu1>  
227 - <mu2>10.0</mu2>  
228 - <material>Gazebo/Black</material>  
229 - </gazebo>  
230 - <gazebo reference="sensor_frame_link">  
231 - <kp>100000.0</kp>  
232 - <kd>100000.0</kd>  
233 - <mu1>10.0</mu1>  
234 - <mu2>10.0</mu2>  
235 - <material>Gazebo/White</material>  
236 - </gazebo>  
237 - <!-- * * * GAZEBO Plugins * * * -->  
238 - <plugin filename="libArduPilotPlugin.so" name="ardupilot_plugin">  
239 - <fdm_addr>127.0.0.1</fdm_addr>  
240 - <fdm_port_in>9002</fdm_port_in>  
241 - <fdm_port_out>9003</fdm_port_out>  
242 - <modelXYZToAirplaneXForwardZDown>0 0 0 3.141593 0 0</modelXYZToAirplaneXForwardZDown>  
243 - <gazeboXYZToNED>0 0 0 3.141593 0 0</gazeboXYZToNED>  
244 - <!--<imuName></imuName>-->  
245 - <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>  
246 - <!--  
247 - incoming control command [0, 1]  
248 - so offset it by 0 to get [0, 1]  
249 - and divide max target by 1.  
250 - offset = 0  
251 - multiplier = 838 max rpm / 1 = 838  
252 - -->  
253 - <control channel="0">  
254 - <multiplier>1</multiplier>  
255 - <offset>-0.5</offset>  
256 - <type>RIC</type>  
257 - <p_gain>1</p_gain>  
258 - <i_gain>0</i_gain>  
259 - <d_gain>0</d_gain>  
260 - <i_max>0</i_max>  
261 - <i_min>0</i_min>  
262 - <cmd_max>1</cmd_max>  
263 - <cmd_min>-1</cmd_min>  
264 - <jointName>aquanaute::motor_platform_joint</jointName>  
265 - </control>  
266 - <control channel="1">  
267 - <multiplier>1</multiplier>  
268 - <offset>-0.5</offset>  
269 - <type>THOMAS</type>  
270 - <p_gain>1</p_gain>  
271 - <i_gain>0</i_gain>  
272 - <d_gain>0</d_gain>  
273 - <i_max>0</i_max>  
274 - <i_min>0</i_min>  
275 - <cmd_max>1</cmd_max>  
276 - <cmd_min>-1</cmd_min>  
277 - <jointName>aquanaute::propeller_motor_joint</jointName>  
278 - </control>  
279 - </plugin>  
280 -</robot>  
281 -  
aquanaute_gazebo/urdf/aquanaute_gazebo.urdf.xacro
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@@ -45,18 +45,10 @@ @@ -45,18 +45,10 @@
45 </gazebo> 45 </gazebo>
46 46
47 <gazebo reference="motor_link"> 47 <gazebo reference="motor_link">
48 - <kp>100000.0</kp>  
49 - <kd>100000.0</kd>  
50 - <mu1>10.0</mu1>  
51 - <mu2>10.0</mu2>  
52 <material>Gazebo/Black</material> 48 <material>Gazebo/Black</material>
53 </gazebo> 49 </gazebo>
54 50
55 <gazebo reference="propeller_link"> 51 <gazebo reference="propeller_link">
56 - <kp>1.0</kp>  
57 - <kd>1.0</kd>  
58 - <mu1>1.0</mu1>  
59 - <mu2>1.0</mu2>  
60 <material>Gazebo/Blue</material> 52 <material>Gazebo/Blue</material>
61 </gazebo> 53 </gazebo>
62 54
@@ -87,41 +79,21 @@ @@ -87,41 +79,21 @@
87 <gazeboXYZToNED>0 0 0 3.141593 0 0</gazeboXYZToNED> 79 <gazeboXYZToNED>0 0 0 3.141593 0 0</gazeboXYZToNED>
88 <imuName>imu_sensor</imuName> 80 <imuName>imu_sensor</imuName>
89 <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount> 81 <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
90 - <!--  
91 - incoming control command [0, 1]  
92 - so offset it by 0 to get [0, 1]  
93 - and divide max target by 1.  
94 - offset = 0  
95 - multiplier = 838 max rpm / 1 = 838  
96 - --> 82 +
97 <control channel="0"> 83 <control channel="0">
98 - <multiplier>1</multiplier>  
99 - <offset>-0.5</offset>  
100 <type>POSITION</type> 84 <type>POSITION</type>
101 - <p_gain>1</p_gain>  
102 - <i_gain>0</i_gain>  
103 - <d_gain>0</d_gain>  
104 - <i_max>0</i_max>  
105 - <i_min>0</i_min>  
106 - <cmd_max>1</cmd_max>  
107 - <cmd_min>-1</cmd_min> 85 + <multiplier>1</multiplier>
  86 + <offset>0</offset>
108 <jointName>aquanaute::motor_platform_joint</jointName> 87 <jointName>aquanaute::motor_platform_joint</jointName>
109 </control> 88 </control>
110 -  
111 - <control channel="1"> 89 + <control channel="0">
112 <type>VELOCITY</type> 90 <type>VELOCITY</type>
113 - <offset>-0.5</offset>  
114 - <p_gain>1</p_gain>  
115 - <i_gain>0</i_gain>  
116 - <d_gain>0</d_gain>  
117 - <i_max>0</i_max>  
118 - <i_min>0</i_min>  
119 - <cmd_max>10</cmd_max>  
120 - <cmd_min>-10</cmd_min> 91 + <multiplier>1</multiplier>
  92 + <offset>0</offset>
121 <jointName>aquanaute::propeller_motor_joint</jointName> 93 <jointName>aquanaute::propeller_motor_joint</jointName>
122 - <multiplier>70</multiplier>  
123 </control> 94 </control>
124 - 95 +<!--
  96 +-->
125 </plugin> 97 </plugin>
126 </gazebo> 98 </gazebo>
127 <!-- Attach hydrodynamics plugin --> 99 <!-- Attach hydrodynamics plugin -->
aquanaute_gazebo/urdf/dynamics/aquanaute_gazebo_dynamics_plugin.xacro
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@@ -9,9 +9,9 @@ @@ -9,9 +9,9 @@
9 <waterLevel>0</waterLevel> 9 <waterLevel>0</waterLevel>
10 <waterDensity>997.8</waterDensity> 10 <waterDensity>997.8</waterDensity>
11 <!-- Added mass --> 11 <!-- Added mass -->
12 - <xDotU>10.0</xDotU>  
13 - <yDotV>10.0</yDotV>  
14 - <nDotR>25.0</nDotR> 12 + <xDotU>0.0</xDotU>
  13 + <yDotV>0.0</yDotV>
  14 + <nDotR>0.0</nDotR>
15 <!-- Linear and quadratic drag --> 15 <!-- Linear and quadratic drag -->
16 <xU>51.3</xU> 16 <xU>51.3</xU>
17 <xUU>72.4</xUU> 17 <xUU>72.4</xUU>
@@ -28,7 +28,7 @@ @@ -28,7 +28,7 @@
28 <boatWidth>1.8</boatWidth> 28 <boatWidth>1.8</boatWidth>
29 <boatLength>3.0</boatLength> 29 <boatLength>3.0</boatLength>
30 <!-- Length discretization, AKA, "N" --> 30 <!-- Length discretization, AKA, "N" -->
31 - <length_n>10</length_n> 31 + <length_n>2</length_n>
32 <!-- Wave model --> 32 <!-- Wave model -->
33 <wave_model>ocean_waves</wave_model> 33 <wave_model>ocean_waves</wave_model>
34 </plugin> 34 </plugin>
aquanaute_gazebo/worlds/test.world
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@@ -61,7 +61,7 @@ @@ -61,7 +61,7 @@
61 <kinematic>0</kinematic> 61 <kinematic>0</kinematic>
62 </link> 62 </link>
63 </model> 63 </model>
64 - <gravity>0 0 -9.8</gravity> 64 + <gravity>0 0 0</gravity> <!--0 0 -9.8-->
65 <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field> 65 <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
66 <atmosphere type='adiabatic'/> 66 <atmosphere type='adiabatic'/>
67 <physics name='default_physics' default='0' type='ode'> 67 <physics name='default_physics' default='0' type='ode'>