ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

Hi,

I guess you are using the uwsim underwater_vehicle_dynamics package as the vehicle is "falling" (z increasing). When using the vehicle_dynamics package the initial position must be stated in it (no matter what you set in the uwsim XML config file) as that package is the one who sets the vehicle position in uwsim. Just set the position in the yaml file (g500/dynamics/initial_pose: ). We are still working to integrate the dynamics inside UWSim so everything is easier...

You also have to send messages to the thrusters_input, if you send velocities or positions to UWSim expect weird results as two nodes will be sending different information to UWSim.