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Hydrodynamics effect - added mass

asked 2016-10-10 11:48:44 -0500

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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]).


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We currently have a proposal to expose the added mass matrix through SDF from Gazebo Garden:

chapulina gravatar imagechapulina ( 2022-07-11 16:29:11 -0500 )edit

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answered 2016-11-29 02:47:28 -0500

sebastianscherer gravatar image


this is implemented for example in uuv_simulator.

Best, Sebastian

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Asked: 2016-10-10 11:48:44 -0500

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Last updated: Oct 10 '16