iq_sim
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Intelligent-Quads
Boat demo
Hi, I test your simulation with the boat and it pops 2 boats and sinks them xD.
Is there a configuration to enable the USV plugin ? I can also use the VRX repository if needed.
Do you use the ardupilotplugin in Gazebo-9 ? I can see in the code you try ArdupilotCopter plugin (on boat branch).
I would like to test it with one of our boat (same size as WAMV)
My simulation is built on the USV plugin which is found within the px4 sitl_gazebo repository. make sure to follow these instructions here https://github.com/Intelligent-Quads/iq_sim/blob/master/docs/boat_setup.md#6-setup-libgazebo_usv_dynamics_plugin
and also make sure to add export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:$HOME/src/sitl_gazebo/build to your bashrc and to source it for use in the same terminal.
Seems that I didn't replace the plugin path Now it works quite well
Do you had any PID/NAV params ? Also WP_SPEED is null in your params.
to be completely honest. I've put the boat project on hold for the time being, and I didn't do too much tuning. I was able to get to track much better after turning down the speed and, tweaking a few other params I found on this page. https://ardupilot.org/rover/docs/rover-tuning-steering-rate.html. I never, got it perfect, but it was ok. next time I boot up my ubuntu side of my desktop I can take a look for you
Yeah the link you provide is the basic tuning I use most of the time. Tell me when you switch to the ubuntu "good" side :)