Package for BlueROV1 simulation.
Once the robot is spawned in Gazebo, it waits for thruster inputs on /brov/thruster_command
(JointState message using the effort field).
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To launch Gazebo with a GUI to control the thrusters:
roslaunch bluerov_ffg brov.launch
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To launch Gazebo without the control GUI:
roslaunch bluerov_ffg rviz.launch gui:=false
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To visualize the thruster forces:
roslaunch bluerov_ffg rviz.launch