BlueROV2 in Gazebo Harmonic

This is a model of the BlueROV2, including support for both the base and heavy configurations, that runs in Gazebo Garden. It uses the BuoyancyPlugin, HydrodynamicsPlugin and ThrusterPlugin.

Requirements

• OpenCV:

  • Debian sudo apt install libopencv-dev
  • macOS brew install opencv

• Gazebo Garden 7.1.0

• ArduSub and MAVProxy

Building

A helper script is provided to build the models and plugins:

./build.sh

Running the simulation

An example can be launched using the following commands:

./launch.sh

Once Gazebo has been launched, you can directly send thrust commands to the BlueROV2 model in Gazebo:

scripts/cw.sh <model_name>
scripts/stop.sh <model_name>

Now launch ArduSub and ardupilot_gazebo:

cd PATH_TO_ARDUSUB
Tools/autotest/sim_vehicle.py -L RATBeach -v ArduSub -f <frame> --model=JSON --out=udp:0.0.0.0:14550 --console

where <frame> is replaced with either vectored for the BlueROV2 base configuration or vectored_6dof for the BlueROV2 Heavy configuration.

Note: if you run into problems switching between the vectored and vectored_6dof frame add the -w option to delete all ArduSub parameters.

Use MAVProxy to send commands to ArduSub:

arm throttle
rc 3 1450
rc 3 1500
mode alt_hold
rc 5 1550
disarm

Additional information regarding the usage of each model may be found in a model's respective directory.

See original README.md at https://github.com/clydemcqueen/bluerov2_ignition