use consistant value of 1000 kg/m^3 for density of water

osrf · Aug 3, 2022 · 51f5a8e · 51f5a8e
1 parent 7e4ace7
commit 51f5a8e
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Showing 6 changed files with 6 additions and 6 deletions.
diff --git a/usv_gazebo_plugins/include/usv_gazebo_plugins/usv_gazebo_dynamics_plugin.hh b/usv_gazebo_plugins/include/usv_gazebo_plugins/usv_gazebo_dynamics_plugin.hh
@@ -40,7 +40,7 @@ namespace gazebo
   /// <boatArea>: Horizontal surface area [m^2]. Default value is 0.48.
   /// <boatLength>: Boat length [m]. Default value is 1.35.
   /// <boatWidth>: Boat width [m]. Default value is 1.
-  /// <waterDensity>: Water density [kg/m^3]. Default value is 997.7735.
+  /// <waterDensity>: Water density [kg/m^3]. Default value is 1000.
   /// <waterLevel>: Water height [m]. Default value is 0.5.
   /// <xDotU>: Added mass coeff, surge.
   /// <yDotV>: Added mass coeff, sway.

diff --git a/usv_gazebo_plugins/src/buoyancy_gazebo_plugin.cc b/usv_gazebo_plugins/src/buoyancy_gazebo_plugin.cc
@@ -105,7 +105,7 @@ std::string BuoyancyObject::Disp()
 
 /////////////////////////////////////////////////
 BuoyancyPlugin::BuoyancyPlugin()
-  : fluidDensity(997),
+  : fluidDensity(1000),
     fluidLevel(0.0),
     linearDrag(0.0),
     angularDrag(0.0),

diff --git a/usv_gazebo_plugins/src/usv_gazebo_dynamics_plugin.cc b/usv_gazebo_plugins/src/usv_gazebo_dynamics_plugin.cc
@@ -88,7 +88,7 @@ void UsvDynamicsPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
   }
 
   this->waterLevel       = this->SdfParamDouble(_sdf, "waterLevel"  , 0.5);
-  this->waterDensity     = this->SdfParamDouble(_sdf, "waterDensity", 997.7735);
+  this->waterDensity     = this->SdfParamDouble(_sdf, "waterDensity", 1000);
   this->paramXdotU       = this->SdfParamDouble(_sdf, "xDotU"       , 5);
   this->paramYdotV       = this->SdfParamDouble(_sdf, "yDotV"       , 5);
   this->paramZdotW       = this->SdfParamDouble(_sdf, "zDotW"       , 0.1);

diff --git a/wamv_gazebo/urdf/dynamics/wamv_gazebo_dynamics_plugin.xacro b/wamv_gazebo/urdf/dynamics/wamv_gazebo_dynamics_plugin.xacro
@@ -7,7 +7,7 @@
         <bodyName>${namespace}/base_link</bodyName>
         <!-- Must be same as the ocean model!-->
         <waterLevel>0</waterLevel>
-        <waterDensity>997.8</waterDensity>
+        <waterDensity>1000</waterDensity>
         <!-- Added mass -->
         <xDotU>0.0</xDotU>
         <yDotV>0.0</yDotV>

diff --git a/wave_gazebo_plugins/include/wave_gazebo_plugins/PhysicalConstants.hh b/wave_gazebo_plugins/include/wave_gazebo_plugins/PhysicalConstants.hh
@@ -43,7 +43,7 @@ namespace asv
 
     /// \brief Density of water.
     ///
-    /// \return     998.6 [kg m-3].
+    /// \return     1000 [kg m-3].
     public: static double WaterDensity();
 
     /// \brief Kinematic viscosity of water at 18 dgree C.

diff --git a/wave_gazebo_plugins/src/PhysicalConstants.cc b/wave_gazebo_plugins/src/PhysicalConstants.cc
@@ -34,7 +34,7 @@ namespace asv
   /////////////////////////////////////////////////////////////////////////////
   double PhysicalConstants::WaterDensity()
   {
-    return 998.6;
+    return 1000.;
   }
 
   /////////////////////////////////////////////////////////////////////////////