run_simu.txt

launch mavros apm.launch fcu_url:=udp://1.0.0.0:14550@ / Run Gazebo Model
cd bluerov_ros_playground
source gazebo.sh
gazebo worlds/underwater.world -u
# Start the simulation

// Start SITL
cd ardupilot/ArduSub
sim_vehicle.py -j4

/ Or Gazebo
sim_vehicle.py -f gazebo-bluerov2 -I 0 -j4 -D -L RATBeach --console


//Connect mavros with SITL 
roslaunch mavros apm.launch fcu_url:=udp://0.0.0.0:14550@

//Arm the ROV and put it on guided mode. 
rosrun mavros mavsafety arm
rosrun mavros mavsys mode -c GUIDED

/RVIZ 3D model
roslaunch bluerov_ros_playground rviz.launch

/See drone position
rostopic echo /mavros/local_position/odom/pose

/Send linear and angular
rostopic pub -r 10 /mavros/setpoint_velocity/cmd_vel geometry_msgs/TwistStamped "{header: auto, twist: {linear: {x: 10.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}}"