Gazebo Physics Simulator

Full physics simulation with hydrodynamic forces, thruster dynamics, and environmental effects in realistic underwater environments.

Simulation Viewport

Time: 0.00s
Position: 0, 0, -10m
Velocity: 0.0 m/s
Heading: 0°

Force Analysis

Hydrodynamic Model

Drag Coefficient (Cd)0.47
Added Mass (X)2.1 kg
Added Mass (Y)4.8 kg
Added Mass (Z)4.8 kg
Linear Damping-10 N·s/m
Quadratic Damping-30 N·s²/m²
Water Density1025 kg/m³

Vehicle Control

Depth
10.0m
Speed
0.0 m/s
Roll
0.0°
Pitch
0.0°

Environment

Simulation