# Joystick Control with Gazebo

**URL:** https://discuss.bluerobotics.com/t/joystick-control-with-gazebo/9257
**Category:** BlueROV2
**Tags:** ardusub, sitl, simulate
**Created:** [March 11, 2021, 12:29am UTC](https://discuss.bluerobotics.com/t/joystick-control-with-gazebo/9257 "2021-03-11T00:29:37Z")
**Posts on this page:** 1
**Page:** 1

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### Author: ![bjoshi](https://avatars.discourse-cdn.com/v4/letter/b/a87d85/32.png) [@bjoshi](https://discuss.bluerobotics.com/u/bjoshi)
#### Post date: [March 11, 2021, 12:29am UTC](https://discuss.bluerobotics.com/t/joystick-control-with-gazebo/9257/1 "2021-03-11T00:29:37Z")

</div>

I am trying to run the BlueROV2 gazebo simulation using ROS. I am upgrading some hardware, so would require ROS finally. I installed the [bluerov\_ros\_playground](https://github.com/patrickelectric/bluerov_ros_playground) which is working and can connect to ArduSub SITL. I can control from QG using Joystick but not using mavros. These two steps work and I can control from QGC

```bash
gazebo src/bluerov_ros_playground/worlds/underwater.world -u
sim_vehicle.py -f gazebo-bluerov2 -L RATBeach

```

Then, I tested using ROS not running QGC at this point

```bash
roslaunch mavros apm.launch fcu_url:=udp://0.0.0.0:14550@
rosrun mavros mavsafety arm
rosrun mavros mavsys mode -c MANUAL

```

 ![Screenshot from 2021-03-10 19-34-22](https://us1.discourse-cdn.com/flex019/uploads/bluerobotics/original/2X/7/72b2929c8a60c3514b6eeb6892e7a2798b23319d.png)  
Since I can arm and set manual mode from mavros, looks like mavros is connected to SITL.

I tried to change yaw by following command

```bash
rostopic pub -r 10 /mavros/rc/override mavros_msgs/OverrideRCIn '[1500, 1500, 1500, 2000, 0, 0, 0, 0]'

```

but nothing happens.  
@patrickelectric I need some help please!!