@Gaurav Kumar the glider PR @Rakesh Vivekanandan made (which is merged now) launches the glider on the ocean wave.

ros2 launch dave_robot_launch robot_in_world.launch.py x:=4 z:=-1.5 namespace:=glider_slocum world_name:=dave_ocean_waves paused:=false

@Rakesh Vivekanandan Which part of the code does it make the glider to be drifted? The ocean wave model being loaded in the world sdf is only visual.

@Choi Woen-Sug, my immediate response is that the buoyancy plugin is causing the vehicle to move. However, when I adjust the mass of the vehicle to make it neutrally buoyant as mentioned here, the drift doesn't appear as much. Additionally, I believe we might need to use a better set of added mass values.