HydrodynamicsPlugin

A Gazebo model plugin to manage buoyancy and hydrodynamic force calculations for a buoyant object.

Usage

Add the SDF for the plugin to the <model> element of your model.

<plugin name="hydrodynamics" filename="libHydrodynamicsPlugin.so">
  <!-- Wave Model -->
  <wave_model>ocean_waves</wave_model>

  <!-- Hydrodynamics -->
  <damping_on>true</damping_on>
  <viscous_drag_on>true</viscous_drag_on>
  <pressure_drag_on>true</pressure_drag_on>

  <!-- Linear and Angular Damping -->
  <cDampL1>1.0E-6</cDampL1>
  <cDampL2>1.0E-6</cDampL2>
  <cDampR1>1.0E-6</cDampR1>
  <cDampR2>1.0E-6</cDampR2>

  <!-- 'Pressure' Drag -->
  <cPDrag1>1.0E+2</cPDrag1>
  <cPDrag2>1.0E+2</cPDrag2>
  <fPDrag>0.4</fPDrag>
  <cSDrag1>1.0E+2</cSDrag1>
  <cSDrag2>1.0E+2</cSDrag2>
  <fSDrag>0.4</fSDrag>
  <vRDrag>1.0</vRDrag>

  <!-- Markers -->
  <markers>
    <update_rate>30</update_rate>
    <water_patch>false</water_patch>
    <waterline>false</waterline>
    <underwater_surface>false</underwater_surface>
  </markers>
</plugin>

Subscribed Topics

1. ~/hydrodynamics (gazebo::msgs::Param_V)

Published Topics

1. /marker (ignition::msgs::Marker)

Parameters

1. <wave_model> (string, default: "")
   Name of the wave model referencing the plugin WavefieldModelPlugin.

2. <damping_on> (bool, default: true)
   Set to false to disable damping forces.

3. <viscous_drag_on> (bool, default: true)
   Set to false to disable viscous drag forces.

4. <pressure_drag_on> (bool, default: true)
   Set to false to disable pressure drag forces.

5. <cDampL1> (double, default: 1.0E-6)
   Linear damping coefficient for linear motion.

6. <cDampL2> (double, default: 1.0E-6)
   Quadratic damping coefficient for linear motion.

7. <cDampR1> (double, default: 1.0E-6)
   Linear damping coefficient for angular motion.

8. <cDampR2> (double, default: 1.0E-6)
   Quadratic damping coefficient for angular motion.

9. <cPDrag1> (double, default: 1.0E+2)
   Linear coefficient for positive pressure drag.

10. <cPDrag2> (double, default: 1.0E+2)
    Quadratic coefficient for positive pressure drag.

11. <fPDrag> (double, default: 0.4)
    Exponential coefficient for positive pressure drag.

12. <cSDrag1> (double, default: 1.0E+2)
    Linear coefficient for negative pressure drag.

13. <cSDrag2> (double, default: 1.0E+2)
    Quadratic coefficient for negative pressure drag.

14. <fSDrag> (double, default: 0.4)
    Exponential coefficient for negative pressure drag.

15. <vRDrag> (double, default: 1.0)
    Reference speed for pressure drag.

16. <update_rate> (double, default: 30.0)
    Update rate for publishing visual markers.

17. <water_patch> (bool, default: false)
    Set true to display water patch visual markers.

18. <waterline> (bool, default: false)
    Set true to display water line visual markers.

19. <underwater_surface> (bool, default: false)
    Set true to display underwater surface visual markers.