Installation

Steps

  1. Install ardupilot

  1. to test

    cd ardupilot/ArduSub
sim_vehicle.py -L RATBeach --out=udp:0.0.0.0:14550 --map --console

  1. Install freebuoyancy_gazebo plugin for buoyancy simulation

    https://github.com/bluerobotics/freebuoyancy_gazebo

  2. Install link

    https://github.com/patrickelectric/ardupilot_gazebo

  3. Run BlueRov2 Gazebo model

    git clone https://github.com/patrickelectric/bluerov_ros_playground
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 -L RATBeach --out=udp:0.0.0.0:14550 --console --map