Increasing the Maximum Velocity of USV

[MustafaBayrak1]

Describe the bug
Similar to this issue, I am trying to increase the speed of the USV.
#731
However, nothing works except changing the parameters in the wamv_gazebo_dynamic_plugin.xacro file. However, it alters the realism of the water surface, as expected.

I am using VRX Classic.

Expected behavior
Trying to increase the maximum velocity the WAM-V can go

System Configuration:
Tell us about your system.

• OS: Ubuntu 20.00
• ROS Version: ROS 1
• VRX Classic

[Clinz-ZK]

Did you solve the issue? And I also want to know how to increase the max speed of wamv on ROS2.

[MustafaBayrak1]

Did you solve the issue? And I also want to know how to increase the max speed of wamv on ROS2.

I tried to solve it but it's easier to just migrate to ROS2 at this point.

To increase the max speed of wamv on ROS2, you can edit the wamv_gazebo_thruster_config.xacro file. I edited the max_velocity_mps and thrust_coefficient value and it works. You can publish higher thrust cmd and it goes faster.

[Clinz-ZK]

very thanks for your reply