I am trying to simulate, in Gazebo, my custom ROV which uses the same motor configuration as SUB_FRAME_SIMPLEROV_4 in
I tried following this procedure without success.
I made sure that my simulation was working by launching Gazebo, and then launching sim_vehicle.py with this command line:
sim_vehicle.py -v ArduSub -f gazebo-bluerov2 --out=udp:127.0.0.1:14551 --console
This worked fine with the bluerov2 model, but obviously doesn’t work with my custom ROV model.
I looked into the code and realized that there is no equivalent argument to gazebo-bluerov2 for a gazebo-simplerov frame configuration in this file
I tried many things to launch sim_vehicle.py with gazebo-simplerov as an argument, but it doesn’t seem to work. Namely, I added the option gazebo-simplerov to vehicleinfo.py file while linking it to a new .parm file. For this new .parm file I copy-pasted the sub-6dof.parm file and changed the
FRAME_CONFIG 2 argument to
FRAME_CONFIG 5, matching the frame configuration from AP_Motors6DOF.cpp, but the Gazebo simulation still seems to use the default SUB_FRAME_VECTORED to launch.
I tried looking deeper into the code, but I am struggling to understand where the frame configuration is actually selected from the sim_vehicle.py launch.