jlack1987

Hi @lurido, based on the provided formulas in `common.urdf.xacro` from `uuv_descriptions` I don't think they are very large right? In comparison to the rigid body inertia values yeah they are...

It looks like there's some instability in the `added_mass` term, i'm guessing it has to deal with the way you're differentiating the joint velocities to get the accelerations. I changed...

I have not tried that no. I am able to make things stable now with the identity matrix for added mass matrix, but i'm interested in understanding why sometimes it...

Bummer but yeah I understand the difficulties that sometimes come with the gazebo API. Aside from that which is outside your control i'm super impressed with how well `uuv_sim` works...

I'm interested in seeing if this improves the simulation behavior as the current implementation has stability issues. I've had to disable it for my underwater sims as the sim goes...

Unfortunately @musamarcusso it's been awhile since I've played around with it, but I believe the accelerations would go to `nan` very quickly after spawning when using added mass inertia matrices...

We make a service call to load a particular controller(for which we should know the plugin type) and the plugin type needs to be loaded as a parameter that is...

This applies here as well: https://github.com/ros-controls/ros_control/pull/357#issuecomment-450917860

I too have found my way to this bug. Gotta give @canalteks a hand in actually tracking down the problem. I just started getting very strange plugin load errors that...

@ompugao the way I get around it is I load all transmissions containing my custom hardware interfaces before all others. Bit hacky, but it works for me