Arjo Chakravarty
Arjo Chakravarty
Is this still a problem?
Hopefully eventually we can move away from custom messages then?
Partially, we need to integrate the hydrodynamics. That _shouldn't_ be too bad.
Also I've opened ignitionrobotics/ign-gui#307 for some changes to GUI. Its on a backburner as I have got to fix dynamics related issues.
I dont see any issues for our purpose on my laptops with integrated radeon and intel graphics. We are not really pushing the graphics card for lrauv-sim.
Spinning in yaw seems to be from the Added Mass terms and Translation is from the damping terms.
I've narrowed this down to an issue of transformations. Basically by sprinkling debug statements throughout the course of the Hydrodynamics plugin I get the following: ``` [Dbg] [HydrodynamicsPlugin.cc:248] Pose Rotation...
This manifests itself when going up using the Buoyancy Engine:  But does not manifest itself when dropping the drop weight. 
Force visuallizations are very telling of a problem in hydrodynamics. The Blue arrow is hydrodynamic forces. The green arrow buoyancy engine forces. 
I checked and its not that. The buoyancy force from the vbs is always pointing opposite gravity. Its not very clear in the video but when I print it I...