freefloating_gazebo repository

Repository Summary

Checkout URI https://github.com/freefloating-gazebo/freefloating_gazebo.git
VCS Type git
VCS Version indigo-devel
Last Updated 2016-01-17
Dev Status MAINTAINED
Released UNRELEASED

Packages

Name Version
freefloating_gazebo 1.0.5

README

freefloating_gazebo for Indigo

A Gazebo plugin to simulate underwater vehicles and visualize with UWsim.

Gazebo plugins

The package builds two Gazebo plugins:

  • freefloating_gazebo_fluid (world plugin) simulates buoyancy and viscous force from water

  • freefloating_gazebo_control (model plugin) opens topics for wrench and joint states, in order to control the considered robots

Other executables

Also builds an external PID controler: pid_control These PID's allow position or velocity control of the vehicle body and joints. Subscribes to setpoint and states topics, and publishes on the wrench and torque topics that are subscribed to by the freefloating_gazebo_control plugin.

Examples

The examples can be downloaded from the freefloating_gazebo_demo package.

References

Please use the following reference when citing this work:

O. Kermorgant, "A dynamic simulator for underwater vehicle-manipulators", International Conference on Simulatation, Modeling and Programming for Autonomous Robots SIMPAR 2014, Oct 2014

Repository Summary

Checkout URI https://github.com/freefloating-gazebo/freefloating_gazebo.git
VCS Type git
VCS Version jade-devel
Last Updated 2016-01-17
Dev Status MAINTAINED
Released UNRELEASED

Packages

Name Version
freefloating_gazebo 1.0.5

README

freefloating_gazebo for Jade

A Gazebo plugin to simulate underwater vehicles and visualize with UWsim.

Gazebo plugins

The package builds two Gazebo plugins:

  • freefloating_gazebo_fluid (world plugin) simulates buoyancy and viscous force from water

  • freefloating_gazebo_control (model plugin) opens topics for wrench and joint states, in order to control the considered robots

Other executables

Also builds an external PID controler: pid_control These PID's allow position or velocity control of the vehicle body and joints. Subscribes to setpoint and states topics, and publishes on the wrench and torque topics that are subscribed to by the freefloating_gazebo_control plugin.

Examples

The examples can be downloaded from the freefloating_gazebo_demo package.

References

Please use the following reference when citing this work:

O. Kermorgant, "A dynamic simulator for underwater vehicle-manipulators", International Conference on Simulatation, Modeling and Programming for Autonomous Robots SIMPAR 2014, Oct 2014