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Adding thrust coefficient calculation #1645

Merged
merged 0 commits into from
Aug 17, 2022
Merged

Adding thrust coefficient calculation #1645

merged 0 commits into from
Aug 17, 2022

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marcoag
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@marcoag marcoag commented Aug 12, 2022

Signed-off-by: Marco A. Gutierrez marco@openrobotics.org

🎉 New feature

Work towards osrf/lrauv#225

Summary

Thrust coefficient in Thruster plugin can only be set to a fixed number, by default 1. This PR adds a calculation that makes it depend on the velocity of the vehicle. The calculation implemented here is based Fossen's equations described in "Guidance and Control of Ocean Vehicles".

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Checklist

  • Signed all commits for DCO
  • Added tests
  • Added example and/or tutorial
  • Updated documentation (as needed)
  • Updated migration guide (as needed)
  • Consider updating Python bindings (if the library has them)
  • codecheck passed (See contributing)
  • All tests passed (See test coverage)
  • While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

@marcoag marcoag requested a review from chapulina as a code owner August 12, 2022 07:58
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chapulina commented Aug 12, 2022 •
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It would be ideal to target this PR at Fortress and merge it forward from there. There are many maritime projects on Fortress that could leverage this addition. We should also add a test case that exercises the new parameter.

@chapulina chapulina added enhancement New feature or request MBARI-LRAUV Sponsored by MBARI-LRAUV project: https://github.com/osrf/lrauv labels Aug 12, 2022
@marcoag marcoag changed the base branch from main to ign-gazebo6 August 17, 2022 05:07
@marcoag marcoag merged commit 880ba4f into ign-gazebo6 Aug 17, 2022
@marcoag marcoag force-pushed the marcoag/thrust_plugin_thrust_coefficient branch from a5791ce to 880ba4f Compare August 17, 2022 09:45
@marcoag marcoag deleted the marcoag/thrust_plugin_thrust_coefficient branch August 17, 2022 09:45
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marcoag commented Aug 17, 2022

This got messed up, opened a new one here against Fortress as suggested.

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@chapulina chapulina Awaiting requested review from chapulina

@iche033 iche033 Awaiting requested review from iche033

@azeey azeey Awaiting requested review from azeey

@mjcarroll mjcarroll Awaiting requested review from mjcarroll

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enhancement New feature or request MBARI-LRAUV Sponsored by MBARI-LRAUV project: https://github.com/osrf/lrauv
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