gz-sim: Hydrodynamics

[azeey-test]

Configuration

• os: Ubuntu Noble

Links

• Live
• Source

Process

Step 1 - Instructions work

Step 2 - Images (if there are any) match the result

[Combuster54]

Interested

[Combuster54]

Ubuntu 24.04 Noble

A Simple example

first change

<xUabsU>-0.32282</xUabsU>
<xU>-2.5</xU>

second change

<xUabsU>-3.5</xUabsU>
<xU>-20</xU>

[azeey]

@arjo129 I know the error message about added mass has been changed to a warning in gazebosim/gz-sim#2579, but would it be possible to change the parameters in our examples so we don't have the warnings?

[Combuster54]

@azeey Yes. There is a way to do that.

Solution

Add

        <disable_added_mass>true</disable_added_mass>

      <!-- Uncomment to add hydrodynamics -->
      <plugin
        filename="gz-sim-hydrodynamics-system"
        name="gz::sim::systems::Hydrodynamics">
        <link_name>base_link</link_name>
        <disable_added_mass>true</disable_added_mass>
        <xDotU>-0.04876161</xDotU>
        <yDotV>-1.26324739</yDotV>
        <zDotW>-1.26324739</zDotW>
        <kDotP>0</kDotP>
        <mDotQ>-0.3346</mDotQ>
        <nDotR>-0.3346</nDotR>
        <xUabsU>-0.62282</xUabsU>
        <xU>-5</xU>
        <yVabsV>-60.127</yVabsV>
        <yV>-5</yV>
        <zWabsW>-6.0127</zWabsW>
        <zW>-100</zW>
        <kPabsP>-0.001916</kPabsP>
        <kP>-1</kP>
        <mQabsQ>-6.32698957</mQabsQ>
        <mQ>-1</mQ>
        <nRabsR>-6.32698957</nRabsR>
        <nR>-1</nR>
      </plugin>