Bluerov1 Gazebo simulation

General Discussion
1

Hey all,

We are a robosub team and trying to simulate bluerov1 in gazebo. We area pretty close. We need some constants and values to have good physics. We are currently trying to get the hydrodynamics right.
It will be great if you can guys can help us out. We are mainly looking for linear damping matrix or quadratic damping matrix or Fossen’s equation of motion.

Thanks

2

Hi @charlie.brown,

The T100 PWM-Thrust chart can give the necessary information about applied forces, and here you can find the 3D model of BlueRov1 to set the force direction. Maybe this topic is interesting for you.

Are you using freefloating plugin with gazebo ?