Package for BlueROV1 simulation.

The robot can be simulated either with Gazebo or UWSim rendering (uwsim:=true in launch files).

The GUIs use the slider_publisher package.

Control can be done either at the thruster or at the velocity level.

• Thruster control: roslaunch bluerov_ffg thruster_cmd.launch

  Once the robot is spawned in Gazebo, it waits for thruster inputs on /brov/thruster_command (JointState message using the effort field). By default a GUI is displayed to control the thruster inputs, it can be diabled by adding gui:=false.

• Velocity control: roslaunch bluerov_ffg velocity_cmd.launch

  This launch file runs Gazebo and also a PID control to map velocity setpoints to thruster commands. By default a GUI is displayed to give velocity setpoints, it can be diabled by adding gui:=false. The gains of the PID are in config/brov.yaml.

• To visualize the thruster forces: roslaunch bluerov_ffg rviz.launch