From 58a0c0b8a0375ae2918d9cc2525d755a21002e62 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Fri, 1 Sep 2023 22:48:35 +0200 Subject: [PATCH] Fix typos. (#2114) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- tutorials/underwater_vehicles.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/tutorials/underwater_vehicles.md b/tutorials/underwater_vehicles.md index dfed5a7d9a..b9210618a9 100644 --- a/tutorials/underwater_vehicles.md +++ b/tutorials/underwater_vehicles.md @@ -1,6 +1,6 @@ \page underwater_vehicles Underwater vehicles -## Simulating Autnomous Underwater Vehicles +## Simulating Autonomous Underwater Vehicles Gazebo now supports basic simulation of underwater vehicles. This capability is based on the equations described in Fossen's ["Guidance and @@ -108,8 +108,8 @@ name="gz::sim::systems::Hydrodynamics"> Just like aeroplanes, an underwater vehicle may also use fins for stability and control. Fortunately, Gazebo already has a version of the LiftDrag plugin. In this tutorial, we will simply add two liftdrag plugins to the rudder and -elevator of MBARI's Tethys. For more info about the liftdrag plugin inluding -what the parameters mean you may look +elevator of MBARI's Tethys. For more info about the liftdrag plugin including +what the parameters mean, you may look at [this gazebo classic tutorial](http://gazebosim.org/tutorials?tut=aerodynamics&cat=physics). Essentially when we tilt the fins, we should experience a lift force which will cause the vehicle to experience a torque and the vehicle should start @@ -152,7 +152,7 @@ name="gz::sim::systems::LiftDrag"> 0 0 0 ``` -The number in this case were kindly provided by MBARI for the Tethys. +The numbers in this case were kindly provided by MBARI for the Tethys. We also need to be able to control the position of the thruster fins so we will use the joint controller plugin. ```xml