Hi everyone, I have a BlueRov2 in heavy configuration and would like to simulate it with SITL + Gazebo (to have a reasonably good simulation of the physics of a 6DOF ROV). Is there an easy way to do this ? I guess this could be useful to a lot of bluerov2 heavy users. JB

Hi, You’ll need to update the xacro description file to add more thrusters and to change the buoyancy foam size/position if necessary. Everything else should be straightforward.

Hi, Patrick, thanks for the quick reply. I did the modifications you suggested, but the rov in gazebo still only has 6 thrusters. I am running SITL + Gazebo by following the instructions in the ardusub gitbook : cd bluerov_ros_playground source gazebo.sh gazebo worlds/underwater.world -u # Star…

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 …

Hi, Great that you figure it out ! The physics simulation is a result of the original work of freefloating_gazebo , you can take a look in the paper here . AFAIK freefloating is able to do the drag simulation that you are looking for, we have this but it’s not possible to control the currents/veloc…

Hi @patrickelectric , thanks for the info on the physics simulation. I still have a problem, I can’t use auto mode, whether it’s with or without gazebo. To make sure it wasn’t because of modifications of the gazebo model or the parameters, I tried with just sitl and default parameters, by running : …

Hi, Yes, it works here: [image] Can you inform if there is an error or a message about the failure ? Have you done any modification in the code ?

Hi @patrickelectric , I managed to fix it by uploading the bluerov_sitl_fast_params I found on another topic, it now works. I suspect that it worked on your side because you had different parameters, does this make sense ? What is the difference between the default parameters loaded by sitl and the …

It now works on my computer with the default parameters too. The -w option in sim_vehicle.py resets the parameters of the simulated rov, right ? I don’t know why it didn’t work in the first place !

Hi @patrickelectric , I think (or hope :smile: ) this is the last issue I’ll encounter. When using auto mode with gazebo, I get very bad results [Screenshot%20from%202019-03-08%2014-09-49] I am running everything according to the instructions in the ardusub gitbook, the only thing I modified is t…

Ok, the problem is not only for auto mode given that in manual mode a forward command causes the vehicle to go backwards, which could explain why auto mode can’t work.

SITL + Gazebo with heavy configuration

Blue Robotics Software

JArber March 11, 2019, 2:12pm 12

Hi @patrickelectric,

I think this deserves a new topic, so I moved the discussion there (with a more detailed description of the problem) :

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