Hello, I would like to ask about how to configure the simulation environment for bluerov2 on Ubuntu 20.04, ROS Noetic, and Gazebo 11. I previously followed what I feel are outdated documents for configuration and encountered some issues, as it required Gazebo 9.0 and above was not supported. The issues are as described above, specifically, I am getting ‘link 1 down’ and it’s always ‘Waiting for heartbeat from tcp:127.0.0.1:5760’ . I would be very grateful for your advice!
Hi @Syyf,
The BR software team have limited experience with this kind of setup, especially on more recent systems. Unfortunately we have very limited bandwidth for testing this at the moment, or trying to write more detailed instructions.
You may be interested in this project from @clyde, who’s a community member and ArduSub contributor. I’m not sure it exactly matches your setup, but it does seem to be reasonably recently updated.
It may also be worth taking a look at the ArduPilot dev docs for Gazebo, which there are a few different pages for 
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