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Gazebo crashing with violent WAM-V motion #690

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M1chaelM opened this issue Jun 27, 2023 · 4 comments
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Gazebo crashing with violent WAM-V motion #690

M1chaelM opened this issue Jun 27, 2023 · 4 comments
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2.3.1

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@M1chaelM M1chaelM added this to the 2.3.0 milestone Jun 27, 2023
@caguero caguero self-assigned this Jun 27, 2023
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caguero commented Jun 28, 2023 •
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Update: I managed to reproduce the crash without hitting any buoys. I did it spinning the WAM-V violently while braking and accelerating again causing some pitching.

wamv_crash.mp4

@M1chaelM M1chaelM changed the title Gazebo crashing with too many collisions Gazebo crashing with violent WAM-V motion Jun 30, 2023
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While testing #692 I also managed to produce a crash in the acoustic tracking task world while moving relatively slowly. After a number of collisions the WAMV seems to destabilize and eventually tilts sideways under the water and crashes the simulation. A wild guess, but I wonder if this might also have something to do with the tuning of the drag coefficients, as described by @tejalbarnwal in #689 . The WAMV seems to be sitting high on the water and when the thrust is strong its movement seems strange.

@M1chaelM M1chaelM mentioned this issue Jun 30, 2023
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@caguero caguero modified the milestones: 2.3.0, 2.3.1 Jul 11, 2023
@caguero caguero mentioned this issue Jul 15, 2023
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caguero commented Jul 15, 2023

See a workaround patch in #706 .

caguero added a commit that referenced this issue Jul 27, 2023
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Fix issue #690 (#706)
2653f18 
* Move the extra links to [un]lock the WAM-V out of the model and into the platforms.

Signed-off-by: Carlos Agüero <[email protected]>
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caguero commented Jul 28, 2023

Fixed in #706

@caguero caguero closed this as completed Jul 28, 2023
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