Are there any worlds available for running USVs in ros2 foxy and ignition gazebo ?
We didnt use VRX as it is using ROS-melodic and Gazebo Classic. Looks like VRX still doesn’t support ROS2-Foxy & Ignition Gazebo.
- We are trying to run wam-v boat (downloaded from fuel) in “ignition gazebo” environment.
https://app.gazebosim.org/OpenRobotics/models/wam-v - World we used is graded buoyancy world
Ignition Gazebo: Buoyancy Class Reference
But we met with little success so far in simulating it as boat is moving zig-zag manner, sinks and bounces off intermeittently. Our purpose here is to understand how simulation works for a USV & then later build use-case on real rudder boat.