Is it possible to implement a glider-based UUV?

[sandbornm]

Hello, I would like to simulate (and collect traces using uuv_simulation_evaluation) an underwater glider (no thrusters/propellers) with control inputs that can change the buoyancy of the vehicle and center of mass in the forward/backward and left/right directions for propulsion. Is this possible with any of the available plugins? If so, is there an advisable approach to implement this type of UUV? It appears that most of the hydrodynamics plugins assume a thruster-based vehicle, but I could be missing something. Any advice would be greatly appreciated. Thanks for this great work!

[tiko5000]

Hi i can't help you in detail but you might want to check out Project DAVE https://github.com/Field-Robotics-Lab/dave/wiki, also here you can have a look on a implementation of a glider that uses buoyancy engine and a moveable mass at least: https://github.com/Field-Robotics-Lab/glider_hybrid_whoi.

Also interesting could be this ignition based simulation: https://github.com/osrf/lrauv