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Add comment about buoyancy force location to underwater tutorial #1935

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Mar 21, 2023
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Add comment about buoyancy force location to underwater tutorial #1935

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6 changes: 5 additions & 1 deletion tutorials/underwater_vehicles.md
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Expand Up @@ -19,7 +19,11 @@ a body can be seen in the following diagram:

# Setting up the buoyancy plugin
The buoyancy plugin in Gazebo uses the collision mesh to calculate the volume
of the vehicle. Additionally, it needs to know the density of the fluid in which
of the vehicle. The calculated volume is used to determine the buoyancy force,
which is then applied at the pose of the collision mesh in the link frame. Note
that this may be a different location from the center of volume.

Additionally, it needs to know the density of the fluid in which
it is moving. By default this is set to 1000kgm^-3. However, in real life this
may vary depending on many factors like depth, salinity of water etc. To add
the buoyancy plugin all one needs to do is add the following under the `<world>`
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