• The WAM-V's behavior is determined by a set of Gazebo Plugins.
• The parameters related to hydrodynamics and propulsion characterists are set in two xacro files.
• Hydrodynamic parameters such as drag and added mass are set in wamv_gazebo_dynamics_plugin.xacro
• Propulsion characteristics, such as force limits and linear/nonlinear mapping, are set in wamv_gazebo_thruster_config.xacro

Details for deriving many of the numerical values, as well as a greater dive into the theory, are discussed in this FAU Publication https://doi.org/10.1016/j.oceaneng.2016.09.037

• Adjusting Hydrodynamic Parameters

• Adjusting Propulsion Characteristics