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BlueRov2 SITL ardupilot
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README.md

BlueRov2 SITL

This is a simple guide to execute BlueRov2 model in Gazebo running ArduPilot SITL.

  1. Install freebuoyancy_gazebo plugin for buoyancy simulation.

  2. Install ardupilot_gazebo/add_link plugin for ardupilot-gazebo communication. add_link is a branch that provides actuation over sdf links, after the git clone, it's necessary to run git checkout add_link.

  3. Run BlueRov2 Gazebo model

    1. Download bluerov_ros_playground

      git clone https://github.com/patrickelectric/bluerov_ros_playground

    2. Run Gazebo model

      cd bluerov_ros_playground
source gazebo.sh
gazebo worlds/underwater.world -u
# Start the simulation

  4. Execute ArduPilot SITL

    sim_vehicle.py -f gazebo-bluerov2 -I 0 -j4 -D -L RATBeach --console

The console will start to display the output if the connection was successful.

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