Does gazebo realistically simulate the air resistance? I see you can set an atmospheric pressure in the simulation but I don't know how to validate the correctness of the aerodynamics. I need the simulation to generate a realistic forces acting on the link given the geometry and velocity of the link. Does gazebo do that or do I need to make a plugin for this?
Hi.
I created based on the hectorplugins a simple plugin that generated drag to a model, in whatever direction. It's a basic approach but at least it should get you going in the right direction.
Here you have the whole code for the solution:
Video explaining the solution and demo
ROSJect Plug and play project with solution
I'll post here the file for the plugin creation: C:\fakepath\fluid_resitance.cpp
And a snippet on how to use it in a Model URDF:
<!-- Add plugin Air Resistance -->
<gazebo>
<plugin name="fluid_resitance_plugin" filename="libfluid_resitance_plugin.so">
<fluid_resitanceTopicName>/fluid_resitance</fluid_resitanceTopicName>
<NameLinkToApplyResitance>simple_sphere_base_link</NameLinkToApplyResitance>
<rate>2.0</rate>
</plugin>
</gazebo>
Hope it helps ;).
Asked: 2019-08-19 09:18:24 -0600
Seen: 869 times
Last updated: Aug 23 '19
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