Hello @patrickelectric
Thanks for answering.
I will review the part you gave me.
Let me ask an additional question.
I am using sdf for the ROV Gazebo environment.
Can the wrong coefficients (e.g. compensation, etc.) that I enter into libfreebuoyancy_gazebo.so or libArduPilotPlugin.so cause the yaw to be slow?
I’ve just recently started, so it’s trial and error.
<buoyancy>
<compensation>0.25</compensation>
<origin xyz= "-0.12585 0.111 0.1789"/>
<limit radius="5"/>
</buoyancy>