I am trying to simulate a rover with a custom frame with 8 thrusters. @patrickelectric suggested I edit the following files
- Modify the Frame_Vectored.h.
- Add more two thrusters and channels in the BlueRov2 Gazebo model, like this one and more two channels here.
- and finallly some modification in SIM_Submarine.cpp.
I added 2 more thrusters to Frame_Vectored.h, BlueRov2.sdf, BlueRov2.urdf.xacro, BlueRov2_thrusters.urdf with the proper values for my rover and also changed the other 6 thruster values where ever needed (like pose of the object)
I am not sure about SIM_Submarine.cpp though. I added 2 thrusters to the Thruster vector and updated the ‘for’ loop in the calculate_forces function to iterate over all 8 thrusters by changing 6 to 8.
Is that all that I need to do to get it working? I am not able to test it at the moment as I still haven’t figured out the map values for the 8 thrusters in the freefloating_gazebo_control plugin in the BlueRov2.urdf.xacro file.