I started gazebo with
cd bluerov_ros_playground
source gazebo.sh
source ~/.bashrc
gazebo --verbose worlds/underwater.world -u
got the following error
[Err] [ArduPilotPlugin.cc:488] [BlueRov2] Please specify a jointName, where the control channel is attached.
[Err] [ArduPilotPlugin.cc:497] [BlueRov2] Couldn’t find specified joint [ ]. This plugin will not run.
By reading previous articles,I found that the reason for the problem is that i didn’t use the branch add_link branch of ardupilot. Because my ubuntu versionis 20.04,i can only insatll gazebo9.x or higher.
So i git ardupilot_gazebo from GitHub - khancyr/ardupilot_gazebo. which is not same as GitHub - patrickelectric/ardupilot_gazebo at add_link . and i don’t know how to use the branch add_link branch of ardupilot to install ardupilot_gazebo by git clone in khancyr/ardupilot_gazebo.
could you please help me to figure out how to solve this error, this is very important for me,and hope guys forgive me for my poor English.