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Investigate why starting an LRAUV away from the origin results in a slow but steady ascent. #35

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arjo129 opened this issue Oct 7, 2021 · 3 comments
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Investigate why starting an LRAUV away from the origin results in a slow but steady ascent. #35

arjo129 opened this issue Oct 7, 2021 · 3 comments

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@arjo129
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arjo129 commented Oct 7, 2021

To replicate run on #118:

ign gazebo -v4 multi_lrauv.sdf

The A AUV and the C AUV slowly start rising.
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@arjo129
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arjo129 commented Oct 8, 2021 •
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So I made the drop weight visible by creating a giant <box> visual in the drop weight model. For some reason the detachable joint system is not working correctly. Here is what happens:
drop_weight_buoyancy

As one can see, the detachable joint on A is released but B is not. This results in A rising but B staying in the same location.

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arjo129 commented Oct 8, 2021

Proposed upstream fix.

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Fixed in #118

@chapulina chapulina transferred this issue from another repository Nov 2, 2021
@caguero caguero mentioned this issue Nov 2, 2021
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@caguero caguero mentioned this issue Nov 2, 2021
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