6 DOF in UUV Simulator

General Discussion
1

Hello,

I’m researching unmanned underwater vehicles with a specialty in BlueROV2.

I have successfully set up a simulation environment for BlueROV2 using this github repository and uuv_simulator.

However my lab is using the heavy configuration so I need to adapt. I found a working model on github and integrated it perfectly. The BlueROV2 heavy config was working perfectly in 4 DOF. However, when I enabled the option for 6 DOF in the PID Controller, as the documentation suggested, it didn’t make any difference. To make sure I double checked the urdf file of the heavy configuration but it didn’t show any signs of flaw. I believe the PID Controller is missing something but my inexperience with controllers does not help much. If someone is willing to help or has found a way to enable 6 DOF it would be more than welcome.

Thanks in advance!

2

I could be totally mistaken as I have no experience with these specific simulation environments, but are you sure about that ?
A BR2 (heavy or not) is inherently passively stable for the pitch and roll axis.
Do you succeed to keep a static roll or pitch angle (different from 0) ? With the 4 DOF and 6 DOF PID Controller ?