Example

To run the example:

roslaunch asv_wave_sim_gazebo ocean_world.launch verbose:=true

You should see an ocean world. To enable waves either edit the WavefieldModelPlugin parameters in the ocean_waves/model.sdf, or use the command line tool:

./devel/lib/asv_wave_sim_gazebo_plugins/WaveMsgPublisher \
  --number 3 \
  --steepness 1 \
  --scale 1.5 \
  --angle 0.4 \
  --direction 1 1 \
  --period 7 \
  --amplitude 1

To add a buoyant object select one of the example models from the Insert tab. The picture shows a Box containing the HydrodynamicsPlugin which is available in asv_wave_sim_gazebo/models.