Package Summary

The usv_gazebo_plugins package

Package Summary

Gazebo plugins for simulating Unmanned Surface Vehicles Originaly copied from https://github.com/bsb808/usv_gazebo_plugins

  • Maintainer status: developed
  • Maintainer: Carlos Aguero <caguero AT osrfoundation DOT org>, Jose Luis Rivero <jriveroo AT osrfoundation DOT org>
  • Author: Brian Bingham <briansbingham AT gmail DOT com>, Carlos Aguero <caguero AT osrfoundation DOT org>
  • License: Apache 2.0
  • Bug / feature tracker: http://bitbucket.org/osrf/vmrc/issues
  • Source: hg https://bitbucket.org/osrf/vmrc (branch: default)

Caution: This package is an active development project

Overview

Gazebo plugins to support simulation of Unmanned Surface Vehicles (USVs).

Available Plugins

usv_gazebo_dynamics_plugin

Generates hydrodynamic forces and torques for a twin-hull catamaran vessel with differential drive.

Parameters

waterLevel (double, default: 0.5)
  • Altitude of the water level used to calculate buoyancy forces. Positive is up from Z=0.0. [m]
waterDensity (double, default: 997.8)
  • Density of the fluid [kg/m^3]
xDotU (double, default: 5.0)
  • Added mass in the surge direction. [kg]
xDotV (double, default: 5.0)
  • Added mass in the sway direction. [kg]
nDotR (double, default: 1.0)
  • Added mass in the yaw direction. [kg m^2]
xU (double, default: 20.0)
  • Linear drag in the surge direction [N/(m/s)]
xUU (double, default: 0.0)
  • Quadratic drag in the surge direction [N/(m/s)^2]
yV (double, default: 20.0)
  • Linear drag in the sway direction [N/(m/s)]
yVV (double, default: 0.0)
  • Quadratic drag in the sway direction [N/(m/s)^2]
zW (double, default: 20.0)
  • Linear drag in the heave direction [N/(m/s)]
kP (double, default: 20.0)
  • Linear drag in the pitch direction [Nm/(rad/s)]
mQ (double, default: 20.0)
  • Linear drag in the roll direction [Nm/(rad/s)]
nR (double, default: 20.0)
  • Linear drag in the yaw direction [Nm/(rad/s)]
nRR (double, default: 20.0)
  • Quadratic drag in the yaw direction [Nm/(rad/s)^2]
maxCmd (double, default: 1.0) maxForceFwd (double, default: 100.0)
  • Maximum forward force for a in the +x thruster [N]
maxForceRev (double, default: -100.0)
  • Maximum forward force for a in the -x thruster [N]
boatArea (double, default: 0.48)
  • Horizontal surface area of the boat. Assumed to be constant with draft and used for buoyancy calculation [m^2]
boatWidth (double, default: 1.0)
  • Width between the thrusters on the vessel - used for calculating the applied torque [m]
boatLength (double, default: 1.35)
  • Length of the vessel. The thrust is applied at the rear of the vessel by taking half of the boat length [m]
thrustOffsetZ (double, default: -0.01)
  • Offset in the Z direction, relative to CG, for applying the thrust. Causes thrust to couple with pitch and roll [m].
metacentricLength (double, default: 0.4)
  • Longitudinal (along x-axis) metacentric height [m]. Results in a stabilizing righting moment in the pitch direction and dictates the natural frequency in pitch.
metcentricWidth (double, default: 0.4)
  • Transverse (along y-axis) metacentric height [m]. Results in a stabilizing righting moment in the roll direction and dictates the natural frequency in roll.

Xacro Files

The included urdf/usv_gazebo_dynamics_plugin.xacro file sets all of the parameters for the plugin, intended as a example for customization.

Examples

Wiki: usv_gazebo_plugins (last edited 2017-02-21 21:37:46 by BrianBingham)