[Question] Fossen Added Mass and Drag Matrix

[donvale1]

Hello,

I just wanted to verify that fossen added mass and drag matrices are in standard body coordinates (forward, right, down) vs gazebo coordinates (forward, left, up).

I looked through the HydrodynamicModel.cc - the conventions are not entirely clear to me because "this->link->RelativeLinearVel()" does not go through any rotation. If gazebo coordinates are forward, left, up, does it mean the matrices should be modified? I guess this is only important if you have off diagonal terms and non-symmetrical auv shapes.

Also, I realised pose_gt and pose_gt_ned only publishes ned velocities. Is there any way to retrieve auv body velocities?

Thank you! Regards.

[pxalcantara]

@musamarcusso could you help with this question?