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Task 1: Develop Torpedo Model

An acoustic torpedo is a torpedo that aims itself by listening for characteristic sounds of its target or by searching for it using sonar (acoustic homing). (wiki)

Your Objective:

To design a Torpedo model that can surge and maneuver horizontally. Gravity is turned off to ease this simulation. A sample design is posted below for reference. However, feel free to be creative in your design.

alt-text-1

About this Task:

This task aims to test your knowledge in model building and basic SDF concepts such as:

  • Links and Joints
  • Collision and Visual Components
  • Model Plugins

How should you proceed:

  1. There are two approaches to model a robot in the gazebo

    • Writing SDF (Standard Description Format) file from scratch (Tutorial) - Recommanded
    • Using Gazebo GUI Model Editor (Tutorial)

  2. If you choose to write SDF file, then navigate to models/torpedo/model.sdf and fill the <!--TODO--> section.

  1. Lastly, add LiftDrag Plugin to the propellers so that when joint velocity is applied to the propellers, it will generate a forward thrust using LiftDrag Plugin. More on LiftDrag Plugin

  2. Same goes for the Rudder as well. After adding the LiftDrag plugin to it, when it is rotated by some angle, it would generate a sideways thrust resulting in yaw motion.

How to run:

To launch gazebo simulator with along with torpedo use roslaunch torpedo demo.launch. Initially there won't be any torpedo visible, because models/torpedo/model.sdf is yet to be filled.