set constant speed for AUV on dynamic uwsim
I want to set constant speed for AUV, however, uwsim is dynamic which means I am only able to give force to the AUV's thruster and the AUV is influenced by the water's friction force. If I could make the force equal to the friction force, then the AUV can move at a constant speed. After that I found that the friction force is controlled by a damping matrix on the dynamics_g500.yaml file, but I don't know the relationship between the damping matrix and the friction force. Can anyone help me? Thanks so much. The launch file is shown below:
<launch>
<include file="$(find underwater_vehicle_dynamics)/launch/dynamics.launch">
<arg name="namespace" value="g500" />
<arg name="params" value="$(find underwater_vehicle_dynamics)/config/dynamics_g500.yaml" />
</include>
<rosparam param="/g500/dynamics/external_force_topic">g500/ForceSensor</rosparam>
<arg name="scene" default="/home/gupta/catkin_ws_shen/src/underwater_simulation/uwsim/data/scenes/lbl.xml" />
<node name="uwsim" pkg="uwsim" type="uwsim" args="--configfile $(arg scene)" output="screen" respawn="false" />
<arg name="thrusters_topic" default="/g500/thrusters_input" />
</launch>