BlueROV2 in Gazebo Garden

Status: proof-of-concept, updated for Gazebo Garden binaries

This is a model of the BlueROV2 that runs in Gazebo Garden. It uses the BuoyancyPlugin, HydrodynamicsPlugin and ThrusterPlugin.

Requirements

• Gazebo Garden 7.1.0
• ardupilot_gazebo
• ArduSub and MAVProxy

See the Dockerfile for installation details.

Running Gazebo

Launch Gazebo:

export GZ_SIM_RESOURCE_PATH=~/colcon_ws/src/bluerov2_ignition/models:~/colcon_ws/src/bluerov2_ignition/worlds
export GZ_SIM_SYSTEM_PLUGIN_PATH=~/ardupilot_gazebo/build
gz sim -v 3 -r underwater.world

You can directly send thrust commands to the BlueROV2 model in Gazebo:

cd ~/colcon_ws/src/bluerov2_ignition
. scripts/cw.sh
. scripts/stop.sh

Now Launch ArduSub and ardupilot_gazebo:

cd ~/ardupilot
Tools/autotest/sim_vehicle.py -L RATBeach -v ArduSub --model=JSON --out=udp:0.0.0.0:14550 --console

Use MAVProxy to send commands to ArduSub:

arm throttle
rc 3 1450     
rc 3 1500
mode alt_hold
rc 5 1550
disarm

Caveats:

• The model needs tuning

References:

• https://github.com/ardupilot/ardupilot_gazebo/wiki
• https://gazebosim.org/docs/garden/install
• https://ardupilot.org/dev/docs/building-setup-linux.html
• https://ardupilot.org/dev/docs/setting-up-sitl-on-linux.html
• https://ardupilot.org/mavproxy/docs/getting_started/download_and_installation.html
• https://www.ardusub.com/developers/rc-input-and-output.html
• https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html