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Hi,

In order to have collision responses you need to launch the dynamic module and use a force sensor as input for external forces on it. You can directly launch it using the launchfile in underwater_vehicle_dynamics using "roslaunch underwater_vehicle_dynamics UWSim_g500_dynamics.launch", The results should be the same as in this video.

Hope it helps!

Hi,

In order to have collision responses you need to launch the dynamic module and use a force sensor as input for external forces on it. You can directly launch it using the launchfile in underwater_vehicle_dynamics using "roslaunch underwater_vehicle_dynamics UWSim_g500_dynamics.launch", The results should be the same as in this video.

Hope it helps!

Edited: As you experimented in your comment I forgot to say you will need to send messages to the thrusters input ("/g500/thrusters_input" by default) it's a Float64Multiarray setting the effort to vehicle's thrusters from -1 to 1. In the case of girona 500 model it uses 5 thrusters first two forward/backward, the second pair up/down and the last one for lateral movements, this can be configured through a yaml on the underwater_vehicle_dynamics package although is not straight forward. SetVehiclePose and setVehiclePosition won't work in this mode of work as dynamics module is controlling positions and velocities.