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Uwsim how to add Mass to terrain cirs_trident

asked 2015-03-20 13:32:56 -0500

User_810 gravatar image

Hi I am using UWSIM package. I loaded the CIRS scene. Everything is working fine. My problem is that the AUV passes through the wall of the terrain. I tried adding some mass to my terrain, but it sank when I gave it mass. Is there a particular way to do it? I jut want my AUV to collide with the walls of the terrain and not pass through it.

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answered 2015-03-20 14:06:11 -0500

Javier Perez gravatar image

updated 2015-03-24 11:55:04 -0500

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.

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Hello, Yes it helped me. But I still have some questions. I am trying to use the functions setVehicleVelocity and setVehiclePose now. But the movement of the AUV doesn't seem correct now. Is it supposed to be different with this dynamic module?

User_810 gravatar image User_810  ( 2015-03-24 11:23:27 -0500 )edit

True, I edited the previous answer ;)

Javier Perez gravatar image Javier Perez  ( 2015-03-24 11:55:28 -0500 )edit

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Asked: 2015-03-20 13:32:56 -0500

Seen: 212 times

Last updated: Mar 24 '15