gazebo_models/submarine_buoyant/model.sdf

<?xml version='1.0'?>
<sdf version='1.5'>
  
  <model name='submarine_buoyant'>
    <pose>0 0 1.5 1.5707963267948966 0 0</pose>
    <link name='body'>
      <pose>0 0 -1.07935 0 0 0</pose>
      <inertial>
        <mass>367.5663404700058</mass>
        <inertia>
          <ixx>215.33261445867842</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>215.33261445867842</iyy>
          <iyz>0</iyz>
          <izz>16.54048532115026</izz>
        </inertia>
      </inertial>

      

      <visual name='body_visual'>
        <geometry>
              <cylinder>
                <radius>0.3</radius>
                <length>2.6</length>
              </cylinder>
            </geometry>
        <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/White</name>
            </script>
          </material>
      </visual>
      <collision name='body_collision'>
        <geometry>
              <cylinder>
                <radius>0.3</radius>
                <length>2.6</length>
              </cylinder>
            </geometry>
      </collision>
      
      <visual name='spacer_visual'>
        <pose>0 0 1.378546 0 0 0</pose>
            <geometry>
              <cylinder>
                <radius>0.0933402</radius>
                <length>0.127211</length>
              </cylinder>
            </geometry>
        <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/White</name>
            </script>
          </material>
      </visual>
    </link>

    <link name='propeller'>
      <pose>0 0 0.3455 3.14159 0 0</pose>
      <inertial>
        <mass>8.410409900000001</mass>
        <inertia>
          <ixx>0.17730244606378792</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.17730244606378792</iyy>
          <iyz>0</iyz>
          <izz>0.35043374583333337</izz>
        </inertia>
      </inertial>

    
      <visual name=blade1_visual>
        <pose>0.3433402 0.0 0 0.7853981633974483 0 0.0</pose>
          <geometry>
            <box>
              <size>0.5 0.154178 0.05455</size>
            </box>
          </geometry>
        <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/White</name>
            </script>
          </material>
      </visual>
      <collision name=blade1_collision>
        <pose>0.3433402 0.0 0 0.7853981633974483 0 0.0</pose>
          <geometry>
            <box>
              <size>0.5 0.154178 0.05455</size>
            </box>
          </geometry>
      </collision>
    
      <visual name=blade2_visual>
        <pose>0.0 0.3433402 0 0.7853981633974483 0 1.5707963267948966</pose>
          <geometry>
            <box>
              <size>0.5 0.154178 0.05455</size>
            </box>
          </geometry>
        <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/White</name>
            </script>
          </material>
      </visual>
      <collision name=blade2_collision>
        <pose>0.0 0.3433402 0 0.7853981633974483 0 1.5707963267948966</pose>
          <geometry>
            <box>
              <size>0.5 0.154178 0.05455</size>
            </box>
          </geometry>
      </collision>
    
      <visual name=blade3_visual>
        <pose>-0.3433402 -0.0 0 -0.7853981633974483 0 0.0</pose>
          <geometry>
            <box>
              <size>0.5 0.154178 0.05455</size>
            </box>
          </geometry>
        <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/White</name>
            </script>
          </material>
      </visual>
      <collision name=blade3_collision>
        <pose>-0.3433402 -0.0 0 -0.7853981633974483 0 0.0</pose>
          <geometry>
            <box>
              <size>0.5 0.154178 0.05455</size>
            </box>
          </geometry>
      </collision>
    
      <visual name=blade4_visual>
        <pose>-0.0 -0.3433402 0 -0.7853981633974483 0 1.5707963267948966</pose>
          <geometry>
            <box>
              <size>0.5 0.154178 0.05455</size>
            </box>
          </geometry>
        <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/White</name>
            </script>
          </material>
      </visual>
      <collision name=blade4_collision>
        <pose>-0.0 -0.3433402 0 -0.7853981633974483 0 1.5707963267948966</pose>
          <geometry>
            <box>
              <size>0.5 0.154178 0.05455</size>
            </box>
          </geometry>
      </collision>
    
    </link>

    <joint name='spinning_joint' type='revolute'>
      <parent>body</parent>
      <child>propeller</child>
      <axis>
        <xyz>0 0 1</xyz>
        <use_parent_model_frame>1</use_parent_model_frame>
        <limit>
          <lower>-1e+12</lower>
          <upper>1e+12</upper>
          <effort>-1</effort>
          <velocity>-1</velocity>
        </limit>
      </axis>
    </joint>

    <allow_auto_disable>1</allow_auto_disable>

    <!-- Commented out because it behaves poorly -->
    <!--
    

    <plugin name="submarine_propeller_1" filename="libLiftDragPlugin.so">
      <air_density>999.1026</air_density>
      <cla>1.2535816618911175</cla>
      <cla_stall>-1.4326647564469914</cla_stall>
      <cda>0</cda>
      <cda_stall>1.4326647564469914</cda_stall>
      <alpha_stall>1.396</alpha_stall>
      <a0>0</a0>

      <area>0.22554881980000002</area>
      <upward>0 -0.7071067811865476 -0.7071067811865475</upward>
      <forward>0 -0.7071067811865475 0.7071067811865476</forward>
      <link_name>propeller</link_name>
      <cp>0.35 0 0</cp>
    </plugin>

    <plugin name="submarine_propeller_2" filename="libLiftDragPlugin.so">
      <air_density>999.1026</air_density>
      <cla>1.2535816618911175</cla>
      <cla_stall>-1.4326647564469914</cla_stall>
      <cda>0</cda>
      <cda_stall>1.4326647564469914</cda_stall>
      <alpha_stall>1.396</alpha_stall>
      <a0>0</a0>

      <area>0.22554881980000002</area>
      <upward>-0.7071067811865475 0 -0.7071067811865476</upward>
      <forward>-0.7071067811865476 0 0.7071067811865475</forward>
      <link_name>propeller</link_name>
      <cp>0 -0.35 0</cp>
    </plugin>

    <plugin name="submarine_propeller_3" filename="libLiftDragPlugin.so">
      <air_density>999.1026</air_density>
      <cla>1.2535816618911175</cla>
      <cla_stall>-1.4326647564469914</cla_stall>
      <cda>0</cda>
      <cda_stall>1.4326647564469914</cda_stall>
      <alpha_stall>1.396</alpha_stall>
      <a0>0</a0>

      <area>0.22554881980000002</area>
      <upward>0 0.7071067811865475 -0.7071067811865476</upward>
      <forward>0 -0.7071067811865476 -0.7071067811865475</forward>
      <link_name>propeller</link_name>
      <cp>-0.35 0 0</cp>
    </plugin>

    <plugin name="submarine_propeller_4" filename="libLiftDragPlugin.so">
      <air_density>999.1026</air_density>
      <cla>1.2535816618911175</cla>
      <cla_stall>-1.4326647564469914</cla_stall>
      <cda>0</cda>
      <cda_stall>1.4326647564469914</cda_stall>
      <alpha_stall>1.396</alpha_stall>
      <a0>0</a0>

      <area>0.22554881980000002</area>
      <upward>0.7071067811865476 0 -0.7071067811865475</upward>
      <forward>0.7071067811865475 0 0.7071067811865476</forward>
      <link_name>propeller</link_name>
      <cp>0 0.35 0</cp>
    </plugin>
    -->

    <plugin name="buoyancy" filename="libBuoyancyPlugin.so">
      <fluid_density>999.1026</fluid_density>
    </plugin>

  </model>
</sdf>