Hydrodynamics effect - added mass - Gazebo Answers archive

Hydrodynamics effect - added mass

Hi,

Is there a way to represent the added mass and fluid inertial forces for underwater vehicles in gazebo?

I'd like to consider an added mass on my vehicle like a 6x6 matrix, to be taken in account altogether with the vehicle inertial ([m*eye(3x3), zeros(3x3); zeros(3x3), I]).

Regards

Asked by Joao Britto on 2016-10-10 11:48:44 UTC

Comments

We currently have a proposal to expose the added mass matrix through SDF from Gazebo Garden: http://sdformat.org/tutorials?tut=added_mass_proposal&branch=chapulina/added_mass

Asked by chapulina on 2022-07-11 16:29:11 UTC

Answers

Hi,

this is implemented for example in uuv_simulator.

Best, Sebastian

Asked by sebastianscherer on 2016-11-29 03:47:28 UTC