How to start bluerov simulator¶

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

2- run from ardupilot ./was build

4- run from ArduSub directory:

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

5- run from bluerov_ros_playground:

source gazebo.sh
gazebo --verbose worlds/underwater.world -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

7-run:

rosrun mavros checkid
rosrun mavros mavparam set SYSID_MYGCS 1

8-run:

rosrun mavros mavsafety arm
rosrun mavros mavsys mode -c MANUAL

by Sarah Toonsi