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Wind simulation in gazebo 7

asked 2020-06-01 06:49:46 -0500

araujor gravatar image

Hi, I'm writing a paper and using gazebo 7 to simulate a quadrotor. One of the reviewers asked for clarification on how the wind simulation happens. Does it simply add a number (proportional to the wind velocity) to the robot's current velocity value? does it use force?

Maybe this question regards the inner workings of the physics engine and I should ask it somewhere else. I don't know.

Anyway, thank you very much!

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answered 2020-06-01 10:33:42 -0500

Carlos Agüero gravatar image

Hello, here's the initial pull request where the wind was implemented:

https://bitbucket.org/osrf/gazebo/pul... https://osrf-migration.github.io/gaze...

There's some code to parse SDF, tests, etc. but the relevant part for your question is in WindPlugin.cc . You'll notice that a call to AddRelativeForce() is applied to all the links of the model that are affected by the wind.

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Thank you! 'll check it out!

araujor gravatar imagearaujor ( 2020-09-21 12:03:45 -0500 )edit
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Asked: 2020-06-01 06:49:46 -0500

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Last updated: Jun 01 '20