#Gazebo Hydrodynamic Plugins

##Virtual Mass Plugin

• Model Plugin
• Simulates the effect of Added mass https://en.wikipedia.org/wiki/Added_mass
• Requires 18 Hydrodynamic coeffiecients
• Default values of coefficients are taken to be zero

##Viscous Damping Plugin

• Model Plugin
• Simulates viscous damping forces
• Requires 6 Linear and 6 Quadratic damping parameters
• Default values of damping coefficients are take to be zero

Virtual Mass Plugin has issues