The BlueROV2 ArduSub SITL with Gazebo is well understood and tested, thanks to @patrickelectric
git clone https://github.com/patrickelectric/bluerov_ros_playground
The BlueROV2 dae file is in the above repository, which can be used in URDF with Gazebo. Just wondering if any one can share BlueROV2 heavy DAE file? I have tried to convert the STEP/IGS files from https://grabcad.com/library/bluerobotics-bluerov2-heavy-1 using FreeCAD/Meshlab but found errors due to unknown components.
Please note that we can convert stl to dae file but stl format don’t preserve color. An example of BlueROV2 heavy dae file generated from stl and the BlueROV2 available in the repository is shown below:
File size 44Mb (which is great)
BlueROV2 heavy with decimation filter applied using MeshLab (can see the errors after decimation to reduce the file size). The GrabCAD STL file size is more than 200Mb.
Thanks for your help in advance.