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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/vrx/issues
  • Source: hg https://bitbucket.org/osrf/vrx (branch: default)

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/vrx/issues
  • Source: hg https://bitbucket.org/osrf/vrx (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) waterDensity (double, default: 997.8) xDotU (double, default: 5.0) xDotV (double, default: 5.0) nDotR (double, default: 1.0) xU (double, default: 20.0) xUU (double, default: 0.0) yV (double, default: 20.0) yVV (double, default: 0.0) zW (double, default: 20.0) kP (double, default: 20.0) mQ (double, default: 20.0) nR (double, default: 20.0) nRR (double, default: 20.0) maxCmd (double, default: 1.0) maxForceFwd (double, default: 100.0) maxForceRev (double, default: -100.0) boatArea (double, default: 0.48) boatWidth (double, default: 1.0) boatLength (double, default: 1.35) thrustOffsetZ (double, default: -0.01) metacentricLength (double, default: 0.4) metcentricWidth (double, default: 0.4)

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


2019-07-13 13:18