I hope I’m not bothering you. I am doing my Master Thesis that is simulation and validation of an underwater system localization, probably a autonomous system in the end. So, i intend use the BlueRov2 and his ROS packages. But seems to me that some things are not implemented yet, like as lights brightness control, right? Depending on my time to do every thing of my thesis, i can contribute, so if you give me some feedback of what was not yet implemented on ROS, i will appreciate.