How to start bluerov simulatorΒΆ

To setup the environment for Gazebo simulation and BlueROV2 using SITL and Ardusub follow the following instructions.

2- run from ardupilot ./was build

3- install mavproxy and mavlink if required

4- run from ArduSub directory:

../Tools/autotest/ -f gazebo-bluerov2 -I 0 -j4 -D -L RATBeach --console

5- run from bluerov_ros_playground:

gazebo --verbose worlds/ -u

6- add apm.launch to any package you have in ros or create a new package for that. Launch file available here.

source devel/setup.bash
export LD_LIBRARY_PATH=/opt/ros/kinetic/lib
roslaunch rplidar_ros apm.launch


rosrun mavros checkid
rosrun mavros mavparam set SYSID_MYGCS 1


rosrun mavros mavsafety arm
rosrun mavros mavsys mode -c MANUAL

by Sarah Toonsi