# \#sitl **URL:** https://discuss.bluerobotics.com/tag/sitl/60.md [Latest](https://discuss.bluerobotics.com/latest.md) · [Categories](https://discuss.bluerobotics.com/categories.md) · [Tags](https://discuss.bluerobotics.com/tags.md) --- ## [Ardusub gazebo sitl heading issue](https://discuss.bluerobotics.com/t/ardusub-gazebo-sitl-heading-issue/23572)
**Author:** [@AbdelrahmanAshraf](https://discuss.bluerobotics.com/u/AbdelrahmanAshraf)\ **Replies:** 0\ **Last updated:** [September 10, 2026, 3:07pm UTC](https://discuss.bluerobotics.com/t/ardusub-gazebo-sitl-heading-issue/23572 "2026-09-10T15:07:44Z")
i am building a gazebo-sitl simulation using bluerov2 vectored frame but with our cadded model on manual mode the model drives perfectly but when i switch to depth hold mode the model flies to the water surface and s… --- ## [Turning BlueROV into Spiderman](https://discuss.bluerobotics.com/t/turning-bluerov-into-spiderman/10330)
**Author:** [@monsterbacke](https://discuss.bluerobotics.com/u/monsterbacke)\ **Replies:** 11\ **Last updated:** [June 23, 2026, 7:51pm UTC](https://discuss.bluerobotics.com/t/turning-bluerov-into-spiderman/10330 "2026-06-23T19:51:50Z")
Hi everyone, If you read the title and thought “but why??” - let me give you the answer: for science! However, it doesn’t quite work yet and I would appreciate if someone could point me into the right direction. In a … --- ## [Running SITL with Boat Firmware](https://discuss.bluerobotics.com/t/running-sitl-with-boat-firmware/22240)
**Author:** [@rtcsl](https://discuss.bluerobotics.com/u/rtcsl)\ **Replies:** 6\ **Last updated:** [May 15, 2026, 8:15pm UTC](https://discuss.bluerobotics.com/t/running-sitl-with-boat-firmware/22240 "2026-05-15T20:15:15Z")
Raspberry Pi 4 - raspbian11 BlueOS V1.4.0-beta.17 ArduRover V4.5.7 FlightController Navigator Vehicle type - Surface Boat My setup was as follows: change board to SITL download firmware 4.5.7 reset all parameters … --- ## [Stonefish with Ardusub - Pitch not accurate - STABILIZE & ALT\_HOLD not working](https://discuss.bluerobotics.com/t/stonefish-with-ardusub-pitch-not-accurate-stabilize-alt-hold-not-working/22457)
**Author:** [@davidnoronha1](https://discuss.bluerobotics.com/u/davidnoronha1)\ **Replies:** 0\ **Last updated:** [February 12, 2026, 6:23pm UTC](https://discuss.bluerobotics.com/t/stonefish-with-ardusub-pitch-not-accurate-stabilize-alt-hold-not-working/22457 "2026-02-12T18:23:28Z")
Basically, the AUV works fine (ish) in MANUAL mode, there’s some thruster flipping and its not as responsive as we expected but ArduSub seems to always end up with an incorrect value of pitch / roll that causes the STABL… --- ## [BlueSim with seperate SITL instance](https://discuss.bluerobotics.com/t/bluesim-with-seperate-sitl-instance/22093)
**Author:** [@plavo](https://discuss.bluerobotics.com/u/plavo)\ **Replies:** 1\ **Last updated:** [December 4, 2025, 8:21pm UTC](https://discuss.bluerobotics.com/t/bluesim-with-seperate-sitl-instance/22093 "2025-12-04T20:21:54Z")
Hi, I have tried to get bluesim GitHub - bluerobotics/bluesim: BlueROV2 Simulator using godot engine. running with my own instance of SITL. However the instructions are somewhat unclear as to how to do so. Running Blue… --- ## [BlueOS SITL board](https://discuss.bluerobotics.com/t/blueos-sitl-board/20425)
**Author:** [@chang-M](https://discuss.bluerobotics.com/u/chang-M)\ **Replies:** 7\ **Last updated:** [November 14, 2025, 5:29pm UTC](https://discuss.bluerobotics.com/t/blueos-sitl-board/20425 "2025-11-14T17:29:35Z")
Can blueos use SITL directly? Or do I need to configure something? When I install the ardusub firmware in the SITL board of the configuration interface, I will have the following error. --- ## [Zero sub movement in SITL](https://discuss.bluerobotics.com/t/zero-sub-movement-in-sitl/21068)
**Author:** [@Tautala](https://discuss.bluerobotics.com/u/Tautala)\ **Replies:** 2\ **Last updated:** [October 15, 2025, 10:45pm UTC](https://discuss.bluerobotics.com/t/zero-sub-movement-in-sitl/21068 "2025-10-15T22:45:25Z")
When I run ArduSub in SITL, arm it and set to auto mode the sub does not move. Ground speed is zero. I put debug code in mode\_auto.cpp and I can see that ModeAuto::auto\_wp\_run is saying that forward\_out = 0.999556 but … --- ## [RC override not working with SITL ArduSub + Mavros](https://discuss.bluerobotics.com/t/rc-override-not-working-with-sitl-ardusub-mavros/12046)
**Author:** [@rezenders](https://discuss.bluerobotics.com/u/rezenders)\ **Replies:** 16\ **Last updated:** [August 22, 2025, 9:51pm UTC](https://discuss.bluerobotics.com/t/rc-override-not-working-with-sitl-ardusub-mavros/12046 "2025-08-22T21:51:04Z")
Hello. I am trying to use SITL with Mavros to send rc override commands, something really simple. But it is not working. The funny thing is that I am using a program that was working before (in December 2021), so I gues… --- ## [blueROV2 gazebo 11, ros noetic,ubuntu20.04](https://discuss.bluerobotics.com/t/bluerov2-gazebo-11-ros-noetic-ubuntu20-04/21272)
**Author:** [@Syyf](https://discuss.bluerobotics.com/u/Syyf)\ **Replies:** 1\ **Last updated:** [August 14, 2025, 10:23pm UTC](https://discuss.bluerobotics.com/t/bluerov2-gazebo-11-ros-noetic-ubuntu20-04/21272 "2025-08-14T22:23:56Z")
Hello, I would like to ask about how to configure the simulation environment for bluerov2 on Ubuntu 20.04, ROS Noetic, and Gazebo 11. I previously followed what I feel are outdated documents for configuration and encount… --- ## [BlueROV2 Autonomous Software](https://discuss.bluerobotics.com/t/bluerov2-autonomous-software/14595)
**Author:** [@AT1234567](https://discuss.bluerobotics.com/u/AT1234567)\ **Replies:** 4\ **Last updated:** [April 19, 2025, 8:48am UTC](https://discuss.bluerobotics.com/t/bluerov2-autonomous-software/14595 "2025-04-19T08:48:04Z")
Hi, I’ve been trying to turn my BlueROV2 autonomous (movement with OpenCV) and I’ve been looking at a lot of the other forums for turning the BlueROV2 autonomous, but I haven’t been able to understand how all the softwa… --- ## [Navigating an Autonomous Underwater ROV With GPS using ROS2 and Pymavlink](https://discuss.bluerobotics.com/t/navigating-an-autonomous-underwater-rov-with-gps-using-ros2-and-pymavlink/19699)
**Author:** [@itsJayMendoza](https://discuss.bluerobotics.com/u/itsJayMendoza)\ **Replies:** 5\ **Last updated:** [March 19, 2025, 9:11pm UTC](https://discuss.bluerobotics.com/t/navigating-an-autonomous-underwater-rov-with-gps-using-ros2-and-pymavlink/19699 "2025-03-19T21:11:37Z")
I am currently working on an autonomous underwater ROV using Ubuntu, ROS2, Pymavlink, and ArduSub. At the moment, I am using SITL for simulation using my laptop with Ubuntu OS. My goal is to manually set waypoints using… --- ## [blueROV2 gazebo 11, ros noetic simülasyon sorunu](https://discuss.bluerobotics.com/t/bluerov2-gazebo-11-ros-noetic-simulasyon-sorunu/19613)
**Author:** [@beyza](https://discuss.bluerobotics.com/u/beyza)\ **Replies:** 4\ **Last updated:** [March 19, 2025, 12:56pm UTC](https://discuss.bluerobotics.com/t/bluerov2-gazebo-11-ros-noetic-simulasyon-sorunu/19613 "2025-03-19T12:56:49Z")
BlueROV2 Gazebo Simulation Not Moving Hello, I am trying to set up the BlueROV2 simulation using Ubuntu 20.04, ROS Noetic, and Gazebo 11. I have completed my ArduSub SITL and MAVROS connections, but I am facing the fol… --- ## [Modes Except Manual Doesn't Work Intended on Gazebo with SITL](https://discuss.bluerobotics.com/t/modes-except-manual-doesnt-work-intended-on-gazebo-with-sitl/16299)
**Author:** [@Aruarian](https://discuss.bluerobotics.com/u/Aruarian)\ **Replies:** 1\ **Last updated:** [November 2, 2024, 4:14pm UTC](https://discuss.bluerobotics.com/t/modes-except-manual-doesnt-work-intended-on-gazebo-with-sitl/16299 "2024-11-02T16:14:25Z")
Hello, I’m trying to simulate a BlueROV2 vehicle using SITL on Gazebo. I’m using Ubuntu 20.04 Virtual Machine on Windows 11, and running Gazebo 9. There are different responses when I change the flight modes. “https://w… --- ## [Sitl Ardusub Motion profile (Heading, Speed)](https://discuss.bluerobotics.com/t/sitl-ardusub-motion-profile-heading-speed/16600)
**Author:** [@vigneshB](https://discuss.bluerobotics.com/u/vigneshB)\ **Replies:** 1\ **Last updated:** [April 18, 2024, 2:14am UTC](https://discuss.bluerobotics.com/t/sitl-ardusub-motion-profile-heading-speed/16600 "2024-04-18T02:14:05Z")
I was running Ardusub(Sitl) with Qgroundcontrol in linux. sim\_vehicle.py -j6 -L RATBeach -v ArduSub -f vectored\_6dof JSON --out=udpout:0.0.0.0:14550 --map --console I want to Move the ROV in square shape, where heading… --- ## [Simulating BlueROV2 with Gazebo 11 in ubuntu 20.04 and ROS Noetic](https://discuss.bluerobotics.com/t/simulating-bluerov2-with-gazebo-11-in-ubuntu-20-04-and-ros-noetic/16367)
**Author:** [@michalischatz](https://discuss.bluerobotics.com/u/michalischatz)\ **Replies:** 9\ **Last updated:** [March 26, 2024, 4:40pm UTC](https://discuss.bluerobotics.com/t/simulating-bluerov2-with-gazebo-11-in-ubuntu-20-04-and-ros-noetic/16367 "2024-03-26T16:40:21Z")
Hello, I’m trying to simulate bluerov2 with gazebo 11 in ubuntu 20.04 in ros noetic. I tried Patrik’s guide from the bluerov\_ros\_playground repo but when I’m running the make command in ardupilot\_gazebo with add\_link b… --- ## [Communication Problem Between SITL and Gazebo](https://discuss.bluerobotics.com/t/communication-problem-between-sitl-and-gazebo/13997)
**Author:** [@Zeynep](https://discuss.bluerobotics.com/u/Zeynep)\ **Replies:** 5\ **Last updated:** [February 26, 2024, 7:00pm UTC](https://discuss.bluerobotics.com/t/communication-problem-between-sitl-and-gazebo/13997 "2024-02-26T19:00:43Z")
Hi, I have set up SITL on my QGroundControl. I need to provide communication between SITL and Gazebo. However, I encounter some issues while connecting QGroundControl with Gazebo. I can run QGroundControl with SITL, but … --- ## [Movement of auv in alt hold mode in ardusub simulation](https://discuss.bluerobotics.com/t/movement-of-auv-in-alt-hold-mode-in-ardusub-simulation/16077)
**Author:** [@Prapti](https://discuss.bluerobotics.com/u/Prapti)\ **Replies:** 0\ **Last updated:** [February 20, 2024, 6:59pm UTC](https://discuss.bluerobotics.com/t/movement-of-auv-in-alt-hold-mode-in-ardusub-simulation/16077 "2024-02-20T18:59:13Z")
Greetings to the Community, I needed a quick help with an issue I was facing, I wanted to test a code on my auv through the ardu sub simulation for which I needed to arm my vehicle and set mode to alt hold .The simulate… --- ## [BlueROV2 simulator: Tethys](https://discuss.bluerobotics.com/t/bluerov2-simulator-tethys/15152)
**Author:** [@andrea](https://discuss.bluerobotics.com/u/andrea)\ **Replies:** 1\ **Last updated:** [October 23, 2023, 9:06am UTC](https://discuss.bluerobotics.com/t/bluerov2-simulator-tethys/15152 "2023-10-23T09:06:26Z")
Hello BlueRobotics Community, I hope everyone is doing well and enjoying their time exploring the depths with their ROVs! I’m Andrea, the CEO of Witted, and I’m excited to introduce you to our latest project: Tethys, a… --- ## [MAVROS /mavros/manual\_control/send doesn't work at all](https://discuss.bluerobotics.com/t/mavros-mavros-manual-control-send-doesnt-work-at-all/13929)
**Author:** [@thndr0](https://discuss.bluerobotics.com/u/thndr0)\ **Replies:** 3\ **Last updated:** [October 20, 2023, 12:17pm UTC](https://discuss.bluerobotics.com/t/mavros-mavros-manual-control-send-doesnt-work-at-all/13929 "2023-10-20T12:17:21Z")
Hello, I’m trying to build a ground control application using MAVROS. I am sending manual control messages to mavros (/mavros/manual\_control/send) but I get no reaction from MAVROS or even from SITL’s console. When tryin… --- ## [QGroundControl in parallel with Python Script using SITL Environment](https://discuss.bluerobotics.com/t/qgroundcontrol-in-parallel-with-python-script-using-sitl-environment/15059)
**Author:** [@Amhussey](https://discuss.bluerobotics.com/u/Amhussey)\ **Replies:** 6\ **Last updated:** [September 19, 2023, 4:45pm UTC](https://discuss.bluerobotics.com/t/qgroundcontrol-in-parallel-with-python-script-using-sitl-environment/15059 "2023-09-19T16:45:21Z")
I am currently trying to run QGroundControl and a python script at the same time to send basic commands to a SITL environment of the ArduSub simulation. My SITL is currently running on my desktop using WSL2 on Ubuntu ver… --- ## [Guided Mode not supported by Vehicle!](https://discuss.bluerobotics.com/t/guided-mode-not-supported-by-vehicle/2993)
**Author:** [@ShehabAldeen](https://discuss.bluerobotics.com/u/ShehabAldeen)\ **Replies:** 6\ **Last updated:** [July 10, 2023, 3:33pm UTC](https://discuss.bluerobotics.com/t/guided-mode-not-supported-by-vehicle/2993 "2023-07-10T15:33:35Z")
Hello, Whenever I changed the flight mode to guided and set a point on the QGround Control’s map so the ROV must start moving, unfortunately it gives me the message “Guided mode not supported by Vehicle”!!? --- ## [ArduSub SITL with Bluesim: Unstoppable Circular Motion Issue - Looking for Insights](https://discuss.bluerobotics.com/t/ardusub-sitl-with-bluesim-unstoppable-circular-motion-issue-looking-for-insights/14646)
**Author:** [@Vince\_vd](https://discuss.bluerobotics.com/u/Vince_vd)\ **Replies:** 0\ **Last updated:** [July 7, 2023, 10:46am UTC](https://discuss.bluerobotics.com/t/ardusub-sitl-with-bluesim-unstoppable-circular-motion-issue-looking-for-insights/14646 "2023-07-07T10:46:23Z")
Hi, I’m currently struggling with a persistent issue while using the ArduSub SITL in conjunction with the Bluesim godot simulator. When I launch both, the simulated ROV starts to go in circles, as if one thruster is per… --- ## [Issue with installing Gazebo 7 and 8 for ArduSub SITL](https://discuss.bluerobotics.com/t/issue-with-installing-gazebo-7-and-8-for-ardusub-sitl/13654)
**Author:** [@Zeynep](https://discuss.bluerobotics.com/u/Zeynep)\ **Replies:** 6\ **Last updated:** [June 23, 2023, 7:36pm UTC](https://discuss.bluerobotics.com/t/issue-with-installing-gazebo-7-and-8-for-ardusub-sitl/13654 "2023-06-23T19:36:17Z")
Hi, I’ve been trying to set up ArduSub SITL with Gazebo to simulate some image processing code on my AUV. However the problem is in the ArduSub documantation (SITL · GitBook) the required plugins are said to only support… --- ## [When running python code dronekit/pymavlink](https://discuss.bluerobotics.com/t/when-running-python-code-dronekit-pymavlink/14353)
**Author:** [@GabrielWS](https://discuss.bluerobotics.com/u/GabrielWS)\ **Replies:** 1\ **Last updated:** [May 23, 2023, 7:45am UTC](https://discuss.bluerobotics.com/t/when-running-python-code-dronekit-pymavlink/14353 "2023-05-23T07:45:25Z")
I’m having difficulty in running my python code. Does anyone know why l lose communication everytime I run the code currently im using an Ardusub SITL simulator using the QGC. might be really helpful if you guys could he… --- ## [Simulating Manual Control using Mavros](https://discuss.bluerobotics.com/t/simulating-manual-control-using-mavros/1745)
**Author:** [@MavNav](https://discuss.bluerobotics.com/u/MavNav)\ **Replies:** 75\ **Last updated:** [April 21, 2023, 3:40pm UTC](https://discuss.bluerobotics.com/t/simulating-manual-control-using-mavros/1745 "2023-04-21T15:40:30Z")
Hello, Let me start off by saying im a rookie at this pixhawk and mavros stuff. I am using Ardusub V3.5.1. My ultimate goal here is to make the pixhawk move my motors in any of the axes, X, Y and Z. Im running Ubuntu M… --- ## [ArduSub Simulation SITL , Qground issue and Control](https://discuss.bluerobotics.com/t/ardusub-simulation-sitl-qground-issue-and-control/13790)
**Author:** [@reimonha](https://discuss.bluerobotics.com/u/reimonha)\ **Replies:** 2\ **Last updated:** [March 6, 2023, 5:11pm UTC](https://discuss.bluerobotics.com/t/ardusub-simulation-sitl-qground-issue-and-control/13790 "2023-03-06T17:11:28Z")
Hi @patrickelectric , I have been following the post about ardusub simulation with SITL and even Gazebo, the main post i follow is this one: Setting up a simulation environment I just have a quick question: When runni… --- ## [Disarm when changing gain](https://discuss.bluerobotics.com/t/disarm-when-changing-gain/13276)
**Author:** [@elchinaslanli](https://discuss.bluerobotics.com/u/elchinaslanli)\ **Replies:** 5\ **Last updated:** [November 29, 2022, 7:47am UTC](https://discuss.bluerobotics.com/t/disarm-when-changing-gain/13276 "2022-11-29T07:47:44Z")
Hi there, I’m trying to change the gain value through mavlink by “pushing” buttons virtually with pymavlink library. For example here is my joystick configuration for gain buttons. And here is my code to change gain… --- ## [Yaw rotation speed in Gazebo](https://discuss.bluerobotics.com/t/yaw-rotation-speed-in-gazebo/10134)
**Author:** [@cymal6](https://discuss.bluerobotics.com/u/cymal6)\ **Replies:** 8\ **Last updated:** [October 25, 2022, 3:30pm UTC](https://discuss.bluerobotics.com/t/yaw-rotation-speed-in-gazebo/10134 "2022-10-25T15:30:01Z")
Hello. I have a problem with my Gazebo+SITL environment. I am building an experimental environment using “bluerov\_ros\_playground” created by Patrick José Pereira. Thankfully, I was able to replicate the actual machine… --- ## [ArduSub + SITL simulations](https://discuss.bluerobotics.com/t/ardusub-sitl-simulations/2081)
**Author:** [@monabf](https://discuss.bluerobotics.com/u/monabf)\ **Replies:** 11\ **Last updated:** [July 19, 2022, 7:37am UTC](https://discuss.bluerobotics.com/t/ardusub-sitl-simulations/2081 "2022-07-19T07:37:06Z")
Hi, Sorry to disturb you again, I simply have a quick question. The simulations work for me using rc override with sitl, gazebo and mavros. I wanted to know if it is possible to use modes such as circle or guided with… --- ## [Ardusub simulation (SITL)](https://discuss.bluerobotics.com/t/ardusub-simulation-sitl/481)
**Author:** [@karlfernandes](https://discuss.bluerobotics.com/u/karlfernandes)\ **Replies:** 36\ **Last updated:** [July 18, 2022, 1:09pm UTC](https://discuss.bluerobotics.com/t/ardusub-simulation-sitl/481 "2022-07-18T13:09:25Z")
Hi, I was wondering if there is any way of implementing an ardusub simulation (software in the loop)? I’m working on a custom configuration/application ROV with the hope of having some autonomous functionality down the … [Next page](https://discuss.bluerobotics.com/tag/sitl/60.md?match_all_tags=true&page=1&tags%5B%5D=sitl)