I used a stock OpenROV 2.7 Tube and 2x endcap kits. I doubled up one side with 6mm flanges so I was able to pot 6 more servo wires into the end cap. Seen here: https://forum.openrov.com/t/work-class-openrov/674/69 I originally built it for 3 thrusters, and while fine, I wanted to experiment with 6. I had the foresight to pot the extra servo wires, which I thought might have been used for 6x T-100s with BlueESCs, but I was cautioned against that as I would draw too much power and the ESC’s would be powered when the battery tubes were sealed up. Too many issues, not enough low cost solutions.
At the time I was building it, the BR 4" WTCs were just coming out and it was a bit late to change my design. I had considered upgrading, but when I was shown the BlueROV2 prototype, I ceased all R&D work of my own. The BlueROV2 has far more power and is more maneuverable than anything I could build.
Yep, I’ve been following your design for some time…what are you building now with the OpenROV stuff?