{"action":"created","comment":{"url":"https://api.github.com/repos/Brazilian-Institute-of-Robotics/simulation-gazebo_underwater/pulls/comments/27132071","id":27132071,"diff_hunk":"@@ -28,74 +26,110 @@ namespace gazebo_underwater\n         if(sdf->HasElement(_parameter_name.c_str()))\n         {\n             var = sdf->Get< T >(_parameter_name.c_str());\n-            gzmsg << \"GazeboUnderwater: \" + _parameter_name + \": (\" << var << \") \" + dimension  <<std::endl;\n-        }        \n-        else\n-        {\n-            gzmsg << \"GazeboUnderwater: \" + _parameter_name + \": using default (\" << default_value << \") \" + dimension << std::endl;\n+            gzmsg << \"GazeboUnderwater: \" + _parameter_name + \": (\" << var << \") \"\n+                    + dimension  << std::endl;\n+        }else{\n+            gzmsg << \"GazeboUnderwater: \" + _parameter_name + \": using default (\"\n+                    << default_value << \") \" + dimension << std::endl;\n         }\n         return var;\n     }\n \n-\n     void GazeboUnderwater::loadParameters(void)\n     {\n         if(sdf->HasElement(\"model_name\"))\n         {\n             model = world->GetModel( sdf->Get<std::string>(\"model_name\") );  \n-            gzmsg << \"GazeboUnderwater: found model:\" << model->GetName() << std::endl;\n+            gzmsg << \"GazeboUnderwater: found model: \" << model->GetName() << std::endl;\n+        }else{\n+            gzmsg << \"GazeboUnderwater: model_name to apply buoyancy not defined !\" << std::endl;\n+        }\n+\n+        link = model->GetLink( sdf->Get<std::string>(\"link_name\") );\n+        if( link ){\n+            gzmsg << \"GazeboUnderwater: found link: \" << link->GetName() << std::endl;\n+            physics::InertialPtr modelInertia = link->GetInertial();\n+            gzmsg << \"GazeboUnderwater: link mass: \" << modelInertia->GetMass() << std::endl;\n         }else{\n-            gzmsg << \"GazeboUnderwater: model not found. Quit simulation... \" << std::endl;\n+            gzmsg << \"GazeboUnderwater: no model link matches link_name !\" << std::endl;\n         }\n \n         size = getParameter<math::Vector3>(\"size\",\"meters\",\n                 math::Vector3(1, 1, 1));\n         centerOfBuoyancy = getParameter<math::Vector3>(\"center_of_buoyancy\",\"meters\",\n-                math::Vector3(0, 0, 0.1));\n+                math::Vector3(0, 0, 0.15));\n         fluidVelocity = getParameter<math::Vector3>(\"fluid_velocity\",\"m/s\",\n                 math::Vector3(0,0,0));\n         viscousDamping = getParameter<math::Vector3>(\"viscous_damping\",\"dimensionless\",\n                 math::Vector3(20,30,50));\n         waterLevel = getParameter<double>(\"water_level\",\"meters\", 2.0);\n         densityOfFluid = getParameter<double>(\"fluid_density\",\"kg/m3\", 1000);\n+        // buoyancy must be the buoyancy when the model is completely submersed\n+        buoyancy = getParameter<double>(\"buoyancy\",\"N\",0);\n     }\n \n     void GazeboUnderwater::updateBegin(common::UpdateInfo const& info)\n     {\n-        physics::LinkPtr link = model->GetLink( sdf->Get<std::string>(\"link_name\") ); \n-        applyBuoyancy(link);\n-        applyViscousFriction(link);\n+        if(link)","path":"src/GazeboUnderwater.cpp","position":88,"original_position":88,"commit_id":"84df18ff080ea267a1182cd78a5c17c6f0dd4cfd","original_commit_id":"84df18ff080ea267a1182cd78a5c17c6f0dd4cfd","user":{"login":"doudou","id":292,"avatar_url":"https://avatars.githubusercontent.com/u/292?v=3","gravatar_id":"","url":"https://api.github.com/users/doudou","html_url":"https://github.com/doudou","followers_url":"https://api.github.com/users/doudou/followers","following_url":"https://api.github.com/users/doudou/following{/other_user}","gists_url":"https://api.github.com/users/doudou/gists{/gist_id}","starred_url":"https://api.github.com/users/doudou/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/doudou/subscriptions","organizations_url":"https://api.github.com/users/doudou/orgs","repos_url":"https://api.github.com/users/doudou/repos","events_url":"https://api.github.com/users/doudou/events{/privacy}","received_events_url":"https://api.github.com/users/doudou/received_events","type":"User","site_admin":false},"body":"My opinion is that \"silently failing\" or just warning in this case is source of trouble. If you comment the link, then comment the buyoancy","created_at":"2015-03-25T15:32:30Z","updated_at":"2015-03-25T15:32:30Z","html_url":"https://github.com/Brazilian-Institute-of-Robotics/simulation-gazebo_underwater/pull/4#discussion_r27132071","pull_request_url":"https://api.github.com/repos/Brazilian-Institute-of-Robotics/simulation-gazebo_underwater/pulls/4","_links":{"self":{"href":"https://api.github.com/repos/Brazilian-Institute-of-Robotics/simulation-gazebo_underwater/pulls/comments/27132071"},"html":{"href":"https://github.com/Brazilian-Institute-of-Robotics/simulation-gazebo_underwater/pull/4#discussion_r27132071"},"pull_request":{"href":"https://api.github.com/repos/Brazilian-Institute-of-Robotics/simulation-gazebo_underwater/pulls/4"}}},"pull_request":{"url":"https://api.github.com/repos/Brazilian-Institute-of-Robotics/simulation-gazebo_underwater/pulls/4","id":31868221,"html_url":"https://github.com/Brazilian-Institute-of-Robotics/simulation-gazebo_underwater/pull/4","diff_url":"https://github.com/Brazilian-Institute-of-Robotics/simulation-gazebo_underwater/pull/4.diff","patch_url":"https://github.com/Brazilian-Institute-of-Robotics/simulation-gazebo_underwater/pull/4.patch","issue_url":"https://api.github.com/repos/Brazilian-Institute-of-Robotics/simulation-gazebo_underwater/issues/4","number":4,"state":"open","locked":false,"title":"Fix buoyancy","user":{"login":"Thomio-Watanabe","id":7881475,"avatar_url":"https://avatars.githubusercontent.com/u/7881475?v=3","gravatar_id":"","url":"https://api.github.com/users/Thomio-Watanabe","html_url":"https://github.com/Thomio-Watanabe","followers_url":"https://api.github.com/users/Thomio-Watanabe/followers","following_url":"https://api.github.com/users/Thomio-Watanabe/following{/other_user}","gists_url":"https://api.github.com/users/Thomio-Watanabe/gists{/gist_id}","starred_url":"https://api.github.com/users/Thomio-Watanabe/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Thomio-Watanabe/subscriptions","organizations_url":"https://api.github.com/users/Thomio-Watanabe/orgs","repos_url":"https://api.github.com/users/Thomio-Watanabe/repos","events_url":"https://api.github.com/users/Thomio-Watanabe/events{/privacy}","received_events_url":"https://api.github.com/users/Thomio-Watanabe/received_events","type":"User","site_admin":false},"body":" - Fix the buoyancy behavior when the models are rotated.\r\n - Read the buoyancy as a input parameter, when defined within the gazebo world model.","created_at":"2015-03-24T20:47:30Z","updated_at":"2015-03-25T15:32:30Z","closed_at":null,"merged_at":null,"merge_commit_sha":"a7319d962fed842bc83d95f017ff8c30ecad9f11","assignee":null,"milestone":null,"commits_url":"https://api.github.com/repos/Brazilian-Institute-of-Robotics/simulation-gazebo_underwater/pulls/4/commits","review_comments_url":"https://api.github.com/repos/Brazilian-Institute-of-Robotics/simulation-gazebo_underwater/pulls/4/comments","review_comment_url":"https://api.github.com/repos/Brazilian-Institute-of-Robotics/simulation-gazebo_underwater/pulls/comments{/number}","comments_url":"https://api.github.com/repos/Brazilian-Institute-of-Robotics/simulation-gazebo_underwater/issues/4/comments","statuses_url":"https://api.github.com/repos/Brazilian-Institute-of-Robotics/simulation-gazebo_underwater/statuses/84df18ff080ea267a1182cd78a5c17c6f0dd4cfd","head":{"label":"Brazilian-Institute-of-Robotics:fix_buoyancy","ref":"fix_buoyancy","sha":"84df18ff080ea267a1182cd78a5c17c6f0dd4cfd","user":{"login":"Brazilian-Institute-of-Robotics","id":7870694,"avatar_url":"https://avatars.githubusercontent.com/u/7870694?v=3","gravatar_id":"","url":"https://api.github.com/users/Brazilian-Institute-of-Robotics","html_url":"https://github.com/Brazilian-Institute-of-Robotics","followers_url":"https://api.github.com/users/Brazilian-Institute-of-Robotics/followers","following_url":"https://api.github.com/users/Brazilian-Institute-of-Robotics/following{/other_user}","gists_url":"https://api.github.com/users/Brazilian-Institute-of-Robotics/gists{/gist_id}","starred_url":"https://api.github.com/users/Brazilian-Institute-of-Robotics/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Brazilian-Institute-of-Robotics/subscriptions","organizations_url":"https://api.github.com/users/Brazilian-Institute-of-Robotics/orgs","repos_url":"https://api.github.com/users/Brazilian-Institute-of-Robotics/repos","events_url":"https://api.github.com/users/Brazilian-Institute-of-Robotics/events{/privacy}","received_events_url":"https://api.github.com/users/Brazilian-Institute-of-Robotics/received_events","type":"Organization","site_admin":false},"repo":{"id":30607389,"name":"simulation-gazebo_underwater","full_name":"Brazilian-Institute-of-Robotics/simulation-gazebo_underwater","owner":{"login":"Brazilian-Institute-of-Robotics","id":7870694,"avatar_url":"https://avatars.githubusercontent.com/u/7870694?v=3","gravatar_id":"","url":"https://api.github.com/users/Brazilian-Institute-of-Robotics","html_url":"https://github.com/Brazilian-Institute-of-Robotics","followers_url":"https://api.github.com/users/Brazilian-Institute-of-Robotics/followers","following_url":"https://api.github.com/users/Brazilian-Institute-of-Robotics/following{/other_user}","gists_url":"https://api.github.com/users/Brazilian-Institute-of-Robotics/gists{/gist_id}","starred_url":"https://api.github.com/users/Brazilian-Institute-of-Robotics/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Brazilian-Institute-of-Robotics/subscriptions","organizations_url":"https://api.github.com/users/Brazilian-Institute-of-Robotics/orgs","repos_url":"https://api.github.com/users/Brazilian-Institute-of-Robotics/repos","events_url":"https://api.github.com/users/Brazilian-Institute-of-Robotics/events{/privacy}","received_events_url":"https://api.github.com/users/Brazilian-Institute-of-Robotics/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/Brazilian-Institute-of-Robotics/simulation-gazebo_underwater","description":"Gazebo 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