Hi @patrickelectric, I ended up modifying the sdf file in model/BlueRov2 (added thrusters and control channels) which modified the model in gazebo and allowed me to have pitch control of the rov after changing the frame to vectored 6DOF and setting the parameters to the default values for the heavy configuration in QGroundControl.
I then had to change the “autopilot orientation setting” in sensors > compass to roll 180 to get the AHRS to work properly, and I now have stabilize and depth hold modes working with pitch stabilization (which is pretty cool).
Could you give me some info on the physics simulation that is used when running SITL + gazebo the recommended way (with the commands in the ardusub gitbook, and not the launch files in bluerov_ros_playground,) ?
I would like to know what kind of model is used for the hydrodynamic forces (mostly drag), is it the one from freefloating_gazebo ? I read on another topic that freebuoyancy_gazebo was only used for buoyancy calculation, but then I don’t undertsand where the drag model comes from ? Do you know if there is a simple way to simulate water currents (by setting the water velocity somewhere for instance ?).
Thanks for your help !