I want to run SITL for ROS 2 networks for vehicles other than copter and rover, particularly ArduSub. However, I am unable to find a suitable model for sub.
Using this command, I was able to get the SITL simulation running for copter:
ros2 launch ardupilot_sitl sitl_dds_udp.launch.py sim_address:=127.0.0.1:5501 master:=tcp:0.0.0.0:5760 sitl:=127.0.0.1:5501
I want to change the default “command” setting from arducopter to ardusub, as well as change the default “model” setting to a vehicle capable to run this SITL. I have built ArduPilot for ardusub, and gotten the basic SITL running without any issues.
So I tried running this command:
ros2 launch ardupilot_sitl sitl_dds_udp.launch.py command:=ardusub model:=sub defaults:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/sub.parm,$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/dds_serial.parm sim_address:=127.0.0.1:5501 master:=tcp:0.0.0.0:5760 sitl:=127.0.0.1:5501
However, I get the error: vehicle model (sub) not found.
I would be deeply grateful if someone could tell me a valid model for sub.