# SITL + Gazebo with heavy configuration

**URL:** <https://discuss.bluerobotics.com/t/sitl-gazebo-with-heavy-configuration/4539>\
**Category:** Blue Robotics Software\
**Tags:** sitl, simulate\
**Created:** [March 4, 2019, 11:01pm UTC](https://discuss.bluerobotics.com/t/sitl-gazebo-with-heavy-configuration/4539 "2019-03-04T23:01:38Z")\
**Posts on this page:** 1\
**Showing post:** 12

<div class="post-metadata">

**Author:** ![JArber](https://avatars.discourse-cdn.com/v4/letter/j/7feea3/32.png) [@JArber](https://discuss.bluerobotics.com/u/JArber)\
**Post date:** [March 11, 2019, 2:12pm UTC](https://discuss.bluerobotics.com/t/sitl-gazebo-with-heavy-configuration/4539/12 "2019-03-11T14:12:36Z")

</div>

Hi @patrickelectric,

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

> [@Attitude and heading problem with SITL + Gazebo](https://discuss.bluerobotics.com/t/attitude-and-heading-problem-with-sitl-gazebo/4590):
>
> Hi, I have followed the recommended instructions for installing SITL and gazebo, and haven’t modified anything. I am trying to run sitl + gazebo with the default bluerov2 model in order to test the auto mode but can’t get the attitude and heading estimation to work properly (and thus get very bad results in auto mode). My procedure is to run sitl with the -w option (to have the default parameters), then I load the [bluerov2\_gazebo\_sitl.params](https://discuss.bluerobotics.com/uploads/short-url/tJYIYqgOgmdmnpTdMenxK3CInE8.params) (23.1 KB) parameters that I found in the forum. I g…

JB

---

_[View the full topic](https://discuss.bluerobotics.com/t/sitl-gazebo-with-heavy-configuration/4539)._