Add support for Boat (USV) in SITL gazebo #14132
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Jaeyoung-Lim
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Try setting up a new rover configs for it. It should just work. |
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Here is the log of the boat trying to do mission: log It seems like the assumption rover was making
Makes the boat position controller get into those oscillations. I tried tuning the vehicle, but the region where the oscillation stops make the tracking extremely laggy. Nevertheless, improvements in the rover position controller will come in a different PR, so not a deal breaker for this PR |
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Describe problem solved by this pull request
Recently there has been interest on using PX4 on USV (unmanned surface vehicle) systems. This PR adapts the usv_dynamics plugin from the vrx simulation and integrates the boat simulation into px4 SITL.
As PX4 does not officially support boats yet, I hope this PR becomes a initial step towards supporting such applications.
Describe your solution
Integrate usv_dynamics plugin from the vrx into
px4/sitl_gazeboTest Data Coverage
The video below shows the WAM-V vehicle being controlled in manual mode.
Video: link
Additional context
Implementation in PX4/PX4-SITL_gazebo-classic#409