From 2cdb57239609f5b4ea0f4ef5ab5015ea398bc0cc Mon Sep 17 00:00:00 2001
From: Matteo Del Seppia <71389092+matteodelseppia@users.noreply.github.com>
Date: Thu, 30 May 2024 17:36:07 +0200
Subject: [PATCH 1/3] Adding IMU link and joint to uuv_bluerov2_heavy

Adding the iMU link and joint the uuv_bluerov2_heavy model, since it is currently unusable.
---
 .../uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf | 87 ++++++++++++++-----
 1 file changed, 64 insertions(+), 23 deletions(-)

diff --git a/models/uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf b/models/uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf
index e99e8199a1..c1232f2236 100644
--- a/models/uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf
+++ b/models/uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf
@@ -1,6 +1,6 @@
 <?xml version='1.0'?>
 <sdf version='1.6'>
-    <model name="BlueROV2 Heavy">
+    <model name="uuv_bluerov2_heavy">
         <pose>0 0 0 0 0 0</pose>
 
         <link name="base_link">
@@ -30,22 +30,59 @@
             </visual>
 
         </link>
+        
 
+        <!-- IMU Link & Joint -->
+        <link name='uuv_bluerov2_heavy/imu_link'>
+            <pose>0 0 0 0 0 0</pose>
+            <inertial>
+                <pose>0 0 0 0 0 0</pose>
+                <mass>0.015</mass>
+                <inertia>
+                    <ixx>1e-05</ixx>
+                    <ixy>0</ixy>
+                    <ixz>0</ixz>
+                    <iyy>1e-05</iyy>
+                    <iyz>0</iyz>
+                    <izz>1e-05</izz>
+                </inertia>
+            </inertial>
+        </link>
 
-<!-- GPS for getting the local pose -->
-    <include>
-      <uri>model://gps</uri>
-      <pose>0 0 0 0 0 0</pose>
-      <name>gps</name>
-    </include>
-    <joint name='gps_joint' type='fixed'>
-      <parent>base_link</parent>
-      <child>gps::link</child>
-    </joint>
 
+        <joint name='uuv_bluerov2_heavy/imu_joint' type='revolute'>
+            <child>uuv_bluerov2_heavy/imu_link</child>
+            <parent>base_link</parent>
+            <axis>
+                <xyz>1 0 0</xyz>
+                <limit>
+                    <lower>0</lower>
+                    <upper>0</upper>
+                    <effort>0</effort>
+                    <velocity>0</velocity>
+                </limit>
+                <dynamics>
+                    <spring_reference>0</spring_reference>
+                    <spring_stiffness>0</spring_stiffness>
+                </dynamics>
+                <use_parent_model_frame>1</use_parent_model_frame>
+            </axis>
+        </joint>
+
+
+        <!-- GPS -->
+        <include>
+            <uri>model://gps</uri>
+            <pose>0 0 0 0 0 0</pose>
+            <name>gps</name>
+        </include>
+        <joint name='gps_joint' type='fixed'>
+            <parent>base_link</parent>
+            <child>gps::link</child>
+        </joint>
 
 
-<!-- Start of Thrusters  -->
+        <!-- Start of Thrusters  -->
         <link name="thruster1">
             <pose>0.14 -0.10 0 0 1.570796 0.78539815</pose>
             <inertial>
@@ -526,18 +563,22 @@
             <motorSpeedPubTopic>/motor_speed/7</motorSpeedPubTopic>
             <rotorVelocitySlowdownSim>0.025</rotorVelocitySlowdownSim>
         </plugin>
-
-        <plugin name="magnetometer_plugin" filename="libgazebo_magnetometer_plugin.so">
-            <robotNamespace />
+    
+        <plugin name='magnetometer_plugin' filename='libgazebo_magnetometer_plugin.so'>
+            <robotNamespace/>
             <pubRate>100</pubRate>
             <noiseDensity>0.0004</noiseDensity>
             <randomWalk>6.4e-06</randomWalk>
             <biasCorrelationTime>600</biasCorrelationTime>
             <magTopic>/mag</magTopic>
         </plugin>
-
-        <plugin name="barometer_plugin" filename="libgazebo_barometer_plugin.so">
-            <robotNamespace />
+    
+        <plugin name='groundtruth_plugin' filename='libgazebo_groundtruth_plugin.so'>
+            <robotNamespace/>
+        </plugin>
+    
+        <plugin name='barometer_plugin' filename='libgazebo_barometer_plugin.so'>
+            <robotNamespace/>
             <pubRate>50</pubRate>
             <baroTopic>/baro</baroTopic>
         </plugin>
@@ -577,7 +618,7 @@
             <hil_state_level>false</hil_state_level>
             <vehicle_is_tailsitter>false</vehicle_is_tailsitter>
             <send_vision_estimation>0</send_vision_estimation>
-            <send_odometry>0</send_odometry>
+            <send_odometry>1</send_odometry>
             <enable_lockstep>true</enable_lockstep>
             <use_tcp>true</use_tcp>
             <motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
@@ -658,10 +699,10 @@
                 </channel>
             </control_channels>
         </plugin>
-
-        <plugin name="gazebo_imu_plugin" filename="libgazebo_imu_plugin.so">
-            <robotNamespace />
-            <linkName>base_link</linkName>
+        
+        <plugin name='gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
+            <robotNamespace/>
+            <linkName>uuv_bluerov2_heavy/imu_link</linkName>
             <imuTopic>/imu</imuTopic>
             <gyroscopeNoiseDensity>0.0003394</gyroscopeNoiseDensity>
             <gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk>

From 62d8f771e2426de5591b86a29d5c04e6304924e2 Mon Sep 17 00:00:00 2001
From: Matteo Del Seppia <71389092+matteodelseppia@users.noreply.github.com>
Date: Thu, 30 May 2024 17:39:03 +0200
Subject: [PATCH 2/3] Adding uuv_bluerov2_heavy.sdf.jinja for multi vehicle UUV
 simulations

---
 .../uuv_bluerov2_heavy.sdf.jinja              | 718 ++++++++++++++++++
 1 file changed, 718 insertions(+)
 create mode 100644 models/uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf.jinja

diff --git a/models/uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf.jinja b/models/uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf.jinja
new file mode 100644
index 0000000000..794320870c
--- /dev/null
+++ b/models/uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf.jinja
@@ -0,0 +1,718 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+    <model name="uuv_bluerov2_heavy">
+        <pose>0 0 0 0 0 0</pose>
+
+        <link name="base_link">
+            <inertial>
+                <mass>11</mass>
+                <inertia>
+                    <ixx>0.1</ixx>
+                    <ixy>0</ixy>
+                    <ixz>0</ixz>
+                    <iyy>0.1</iyy>
+                    <iyz>0</iyz>
+                    <izz>0.1</izz>
+                </inertia>
+            </inertial>
+
+            <visual name="base_link_visual">
+                <geometry>
+                    <mesh>
+                        <uri>model://uuv_bluerov2_heavy/meshes/BlueROV2heavy.dae</uri>
+                    </mesh>
+
+                    <!-- <cylinder>
+                        <radius>.05</radius>
+                        <length>0.2</length>
+                    </cylinder> -->
+                </geometry>
+            </visual>
+
+        </link>
+        
+
+        <!-- IMU Link & Joint -->
+        <link name='uuv_bluerov2_heavy/imu_link'>
+            <pose>0 0 0 0 0 0</pose>
+            <inertial>
+                <pose>0 0 0 0 0 0</pose>
+                <mass>0.015</mass>
+                <inertia>
+                    <ixx>1e-05</ixx>
+                    <ixy>0</ixy>
+                    <ixz>0</ixz>
+                    <iyy>1e-05</iyy>
+                    <iyz>0</iyz>
+                    <izz>1e-05</izz>
+                </inertia>
+            </inertial>
+        </link>
+
+
+        <joint name='uuv_bluerov2_heavy/imu_joint' type='revolute'>
+            <child>uuv_bluerov2_heavy/imu_link</child>
+            <parent>base_link</parent>
+            <axis>
+                <xyz>1 0 0</xyz>
+                <limit>
+                    <lower>0</lower>
+                    <upper>0</upper>
+                    <effort>0</effort>
+                    <velocity>0</velocity>
+                </limit>
+                <dynamics>
+                    <spring_reference>0</spring_reference>
+                    <spring_stiffness>0</spring_stiffness>
+                </dynamics>
+                <use_parent_model_frame>1</use_parent_model_frame>
+            </axis>
+        </joint>
+
+
+        <!-- GPS -->
+        <include>
+            <uri>model://gps</uri>
+            <pose>0 0 0 0 0 0</pose>
+            <name>gps</name>
+        </include>
+        <joint name='gps_joint' type='fixed'>
+            <parent>base_link</parent>
+            <child>gps::link</child>
+        </joint>
+
+
+        <!-- Start of Thrusters  -->
+        <link name="thruster1">
+            <pose>0.14 -0.10 0 0 1.570796 0.78539815</pose>
+            <inertial>
+                <mass>1e-10</mass>
+                <inertia>
+                    <ixx>1e-06</ixx>
+                    <ixy>0</ixy>
+                    <ixz>0</ixz>
+                    <iyy>1e-06</iyy>
+                    <iyz>0</iyz>
+                    <izz>1e-06</izz>
+                </inertia>
+            </inertial>
+            <visual name="thruster1_visual">
+                <geometry>
+                    <mesh>
+                        <scale>1 1 1</scale>
+                        <uri>model://uuv_bluerov2_heavy/meshes/prop.dae</uri>
+                    </mesh>
+                </geometry>
+                <material>
+                    <script>
+                        <name>Gazebo/Green</name>
+                        <uri>model://uuv_bluerov2_heavy/meshes/prop.dae</uri>
+                    </script>
+                </material>
+            </visual>
+        </link>
+
+        <joint name="thruster1_joint" type="revolute">
+            <axis>
+                <xyz>0 0 1</xyz>
+                <limit>
+                    <lower>-1e+16</lower>
+                    <upper>1e+16</upper>
+                </limit>
+            </axis>
+            <parent>base_link</parent>
+            <child>thruster1</child>
+        </joint>
+
+        <plugin name="thruster1_model" filename="libgazebo_motor_model.so">
+            <robotNamespace />
+            <reversible>true</reversible>
+            <jointName>thruster1_joint</jointName>
+            <linkName>thruster1</linkName>
+            <turningDirection>ccw</turningDirection>
+            <timeConstantUp>0.0125</timeConstantUp>
+            <timeConstantDown>0.025</timeConstantDown>
+            <maxRotVelocity>1100</maxRotVelocity>
+            <motorConstant>10</motorConstant>
+            <momentConstant>0.01</momentConstant>
+            <rotorDragCoefficient>0</rotorDragCoefficient>
+            <rollingMomentCoefficient>0</rollingMomentCoefficient>
+            <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
+            <motorNumber>0</motorNumber>
+            <motorSpeedPubTopic>/motor_speed/0</motorSpeedPubTopic>
+            <rotorVelocitySlowdownSim>0.025</rotorVelocitySlowdownSim>
+        </plugin>
+
+        <link name="thruster2">
+            <pose>0.14 0.10 0 0 1.570796 -0.78539815</pose>
+            <inertial>
+                <mass>1e-10</mass>
+                <inertia>
+                    <ixx>1e-06</ixx>
+                    <ixy>0</ixy>
+                    <ixz>0</ixz>
+                    <iyy>1e-06</iyy>
+                    <iyz>0</iyz>
+                    <izz>1e-06</izz>
+                </inertia>
+            </inertial>
+            <visual name="thruster2_visual">
+                <geometry>
+                    <mesh>
+                        <scale>1 1 1</scale>
+                        <uri>model://uuv_bluerov2_heavy/meshes/prop.dae</uri>
+                    </mesh>
+                </geometry>
+                <material>
+                    <script>
+                        <name>Gazebo/Green</name>
+                        <uri>file://media/materials/scripts/gazebo.material</uri>
+                    </script>
+                </material>
+            </visual>
+        </link>
+
+        <joint name="thruster2_joint" type="revolute">
+            <axis>
+                <xyz>0 0 1</xyz>
+                <limit>
+                    <lower>-1e+16</lower>
+                    <upper>1e+16</upper>
+                </limit>
+            </axis>
+            <parent>base_link</parent>
+            <child>thruster2</child>
+        </joint>
+
+        <plugin name="thruster2_model" filename="libgazebo_motor_model.so">
+            <robotNamespace />
+            <reversible>true</reversible>
+            <jointName>thruster2_joint</jointName>
+            <linkName>thruster2</linkName>
+            <turningDirection>ccw</turningDirection>
+            <timeConstantUp>0.0125</timeConstantUp>
+            <timeConstantDown>0.025</timeConstantDown>
+            <maxRotVelocity>1100</maxRotVelocity>
+            <motorConstant>10</motorConstant>
+            <momentConstant>0.01</momentConstant>
+            <rotorDragCoefficient>0</rotorDragCoefficient>
+            <rollingMomentCoefficient>0</rollingMomentCoefficient>
+            <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
+            <motorNumber>1</motorNumber>
+            <motorSpeedPubTopic>/motor_speed/1</motorSpeedPubTopic>
+            <rotorVelocitySlowdownSim>0.025</rotorVelocitySlowdownSim>
+        </plugin>
+
+        <link name="thruster3">
+            <pose>-0.14 -0.10 0 0 1.570796 2.356194</pose>
+            <inertial>
+                <mass>1e-10</mass>
+                <inertia>
+                    <ixx>1e-06</ixx>
+                    <ixy>0</ixy>
+                    <ixz>0</ixz>
+                    <iyy>1e-06</iyy>
+                    <iyz>0</iyz>
+                    <izz>1e-06</izz>
+                </inertia>
+            </inertial>
+            <visual name="thruster3_visual">
+                <geometry>
+                    <mesh>
+                        <scale>1 1 1</scale>
+                        <uri>model://uuv_bluerov2_heavy/meshes/prop.dae</uri>
+                    </mesh>
+                </geometry>
+                <material>
+                    <script>
+                        <name>Gazebo/Blue</name>
+                        <uri>file://media/materials/scripts/gazebo.material</uri>
+                    </script>
+                </material>
+            </visual>
+        </link>
+
+        <joint name="thruster3_joint" type="revolute">
+            <axis>
+                <xyz>0 0 1</xyz>
+                <limit>
+                    <lower>-1e+16</lower>
+                    <upper>1e+16</upper>
+                </limit>
+            </axis>
+            <parent>base_link</parent>
+            <child>thruster3</child>
+        </joint>
+
+        <plugin name="thruster3_model" filename="libgazebo_motor_model.so">
+            <robotNamespace />
+            <reversible>true</reversible>
+            <jointName>thruster3_joint</jointName>
+            <linkName>thruster3</linkName>
+            <turningDirection>ccw</turningDirection>
+            <timeConstantUp>0.0125</timeConstantUp>
+            <timeConstantDown>0.025</timeConstantDown>
+            <maxRotVelocity>1100</maxRotVelocity>
+            <motorConstant>-10</motorConstant>
+            <momentConstant>-0.01</momentConstant>
+            <rotorDragCoefficient>0</rotorDragCoefficient>
+            <rollingMomentCoefficient>0</rollingMomentCoefficient>
+            <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
+            <motorNumber>2</motorNumber>
+            <motorSpeedPubTopic>/motor_speed/2</motorSpeedPubTopic>
+            <rotorVelocitySlowdownSim>0.025</rotorVelocitySlowdownSim>
+        </plugin>
+
+        <link name="thruster4">
+            <pose>-0.14 0.10 0 0 1.570796 -2.356194</pose>
+            <inertial>
+                <mass>1e-10</mass>
+                <inertia>
+                    <ixx>1e-06</ixx>
+                    <ixy>0</ixy>
+                    <ixz>0</ixz>
+                    <iyy>1e-06</iyy>
+                    <iyz>0</iyz>
+                    <izz>1e-06</izz>
+                </inertia>
+            </inertial>
+            <visual name="thruster4_visual">
+                <geometry>
+                    <mesh>
+                        <scale>1 1 1</scale>
+                        <uri>model://uuv_bluerov2_heavy/meshes/prop.dae</uri>
+                    </mesh>
+                </geometry>
+                <material>
+                    <script>
+                        <name>Gazebo/Blue</name>
+                        <uri>file://media/materials/scripts/gazebo.material</uri>
+                    </script>
+                </material>
+            </visual>
+        </link>
+
+        <joint name="thruster4_joint" type="revolute">
+            <axis>
+                <xyz>0 0 1</xyz>
+                <limit>
+                    <lower>-1e+16</lower>
+                    <upper>1e+16</upper>
+                </limit>
+            </axis>
+            <parent>base_link</parent>
+            <child>thruster4</child>
+        </joint>
+
+        <plugin name="thruster4_model" filename="libgazebo_motor_model.so">
+            <robotNamespace />
+            <reversible>true</reversible>
+            <jointName>thruster4_joint</jointName>
+            <linkName>thruster4</linkName>
+            <turningDirection>ccw</turningDirection>
+            <timeConstantUp>0.0125</timeConstantUp>
+            <timeConstantDown>0.025</timeConstantDown>
+            <maxRotVelocity>1100</maxRotVelocity>
+            <motorConstant>-10</motorConstant>
+            <momentConstant>-0.01</momentConstant>
+            <rotorDragCoefficient>0</rotorDragCoefficient>
+            <rollingMomentCoefficient>0</rollingMomentCoefficient>
+            <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
+            <motorNumber>3</motorNumber>
+            <motorSpeedPubTopic>/motor_speed/3</motorSpeedPubTopic>
+            <rotorVelocitySlowdownSim>0.025</rotorVelocitySlowdownSim>
+        </plugin>
+
+        <link name="thruster5">
+            <pose>0.12 -0.22 0.06 0 0 0</pose>
+            <inertial>
+                <mass>1e-10</mass>
+                <inertia>
+                    <ixx>1e-06</ixx>
+                    <ixy>0</ixy>
+                    <ixz>0</ixz>
+                    <iyy>1e-06</iyy>
+                    <iyz>0</iyz>
+                    <izz>1e-06</izz>
+                </inertia>
+            </inertial>
+            <visual name="thruster5_visual">
+                <geometry>
+                    <mesh>
+                        <scale>1 1 1</scale>
+                        <uri>model://uuv_bluerov2_heavy/meshes/prop.dae</uri>
+                    </mesh>
+                </geometry>
+                <material>
+                    <script>
+                        <name>Gazebo/Green</name>
+                        <uri>file://media/materials/scripts/gazebo.material</uri>
+                    </script>
+                </material>
+            </visual>
+        </link>
+
+        <joint name="thruster5_joint" type="revolute">
+            <axis>
+                <xyz>0 0 1</xyz>
+                <limit>
+                    <lower>-1e+16</lower>
+                    <upper>1e+16</upper>
+                </limit>
+            </axis>
+            <parent>base_link</parent>
+            <child>thruster5</child>
+        </joint>
+
+        <plugin name="thruster5_model" filename="libgazebo_motor_model.so">
+            <robotNamespace />
+            <reversible>true</reversible>
+            <jointName>thruster5_joint</jointName>
+            <linkName>thruster5</linkName>
+            <turningDirection>ccw</turningDirection>
+            <timeConstantUp>0.0125</timeConstantUp>
+            <timeConstantDown>0.025</timeConstantDown>
+            <maxRotVelocity>1100</maxRotVelocity>
+            <motorConstant>10</motorConstant>
+            <momentConstant>0.01</momentConstant>
+            <rotorDragCoefficient>0</rotorDragCoefficient>
+            <rollingMomentCoefficient>0</rollingMomentCoefficient>
+            <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
+            <motorNumber>4</motorNumber>
+            <motorSpeedPubTopic>/motor_speed/4</motorSpeedPubTopic>
+            <rotorVelocitySlowdownSim>0.025</rotorVelocitySlowdownSim>
+        </plugin>
+
+        <link name="thruster6">
+            <pose>0.12 0.22 0.06 0 0 0</pose>
+            <inertial>
+                <mass>1e-10</mass>
+                <inertia>
+                    <ixx>1e-06</ixx>
+                    <ixy>0</ixy>
+                    <ixz>0</ixz>
+                    <iyy>1e-06</iyy>
+                    <iyz>0</iyz>
+                    <izz>1e-06</izz>
+                </inertia>
+            </inertial>
+            <visual name="thruster6_visual">
+                <geometry>
+                    <mesh>
+                        <scale>1 1 1</scale>
+                        <uri>model://uuv_bluerov2_heavy/meshes/prop.dae</uri>
+                    </mesh>
+                </geometry>
+                <material>
+                    <script>
+                        <name>Gazebo/Blue</name>
+                        <uri>file://media/materials/scripts/gazebo.material</uri>
+                    </script>
+                </material>
+            </visual>
+        </link>
+
+        <joint name="thruster6_joint" type="revolute">
+            <axis>
+                <xyz>0 0 1</xyz>
+                <limit>
+                    <lower>-1e+16</lower>
+                    <upper>1e+16</upper>
+                </limit>
+            </axis>
+            <parent>base_link</parent>
+            <child>thruster6</child>
+        </joint>
+
+        <plugin name="thruster6_model" filename="libgazebo_motor_model.so">
+            <robotNamespace />
+            <reversible>true</reversible>
+            <jointName>thruster6_joint</jointName>
+            <linkName>thruster6</linkName>
+            <turningDirection>ccw</turningDirection>
+            <timeConstantUp>0.0125</timeConstantUp>
+            <timeConstantDown>0.025</timeConstantDown>
+            <maxRotVelocity>1100</maxRotVelocity>
+            <motorConstant>-10</motorConstant>
+            <momentConstant>-0.01</momentConstant>
+            <rotorDragCoefficient>0</rotorDragCoefficient>
+            <rollingMomentCoefficient>0</rollingMomentCoefficient>
+            <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
+            <motorNumber>5</motorNumber>
+            <motorSpeedPubTopic>/motor_speed/5</motorSpeedPubTopic>
+            <rotorVelocitySlowdownSim>0.025</rotorVelocitySlowdownSim>
+        </plugin>
+
+
+        <link name="thruster7">
+            <pose>-0.12 -0.22 0.06 0 0 0</pose>
+            <inertial>
+                <mass>1e-10</mass>
+                <inertia>
+                    <ixx>1e-06</ixx>
+                    <ixy>0</ixy>
+                    <ixz>0</ixz>
+                    <iyy>1e-06</iyy>
+                    <iyz>0</iyz>
+                    <izz>1e-06</izz>
+                </inertia>
+            </inertial>
+            <visual name="thruster7_visual">
+                <geometry>
+                    <mesh>
+                        <scale>1 1 1</scale>
+                        <uri>model://uuv_bluerov2_heavy/meshes/prop.dae</uri>
+                    </mesh>
+                </geometry>
+                <material>
+                    <script>
+                        <name>Gazebo/Blue</name>
+                        <uri>file://media/materials/scripts/gazebo.material</uri>
+                    </script>
+                </material>
+            </visual>
+        </link>
+
+        <joint name="thruster7_joint" type="revolute">
+            <axis>
+                <xyz>0 0 1</xyz>
+                <limit>
+                    <lower>-1e+16</lower>
+                    <upper>1e+16</upper>
+                </limit>
+            </axis>
+            <parent>base_link</parent>
+            <child>thruster7</child>
+        </joint>
+
+        <plugin name="thruster7_model" filename="libgazebo_motor_model.so">
+            <robotNamespace />
+            <reversible>true</reversible>
+            <jointName>thruster7_joint</jointName>
+            <linkName>thruster7</linkName>
+            <turningDirection>ccw</turningDirection>
+            <timeConstantUp>0.0125</timeConstantUp>
+            <timeConstantDown>0.025</timeConstantDown>
+            <maxRotVelocity>1100</maxRotVelocity>
+            <motorConstant>-10</motorConstant>
+            <momentConstant>-0.01</momentConstant>
+            <rotorDragCoefficient>0</rotorDragCoefficient>
+            <rollingMomentCoefficient>0</rollingMomentCoefficient>
+            <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
+            <motorNumber>6</motorNumber>
+            <motorSpeedPubTopic>/motor_speed/6</motorSpeedPubTopic>
+            <rotorVelocitySlowdownSim>0.025</rotorVelocitySlowdownSim>
+        </plugin>
+
+        <link name="thruster8">
+            <pose>-0.12 0.22 0.06 0 0 0</pose>
+            <inertial>
+                <mass>1e-10</mass>
+                <inertia>
+                    <ixx>1e-06</ixx>
+                    <ixy>0</ixy>
+                    <ixz>0</ixz>
+                    <iyy>1e-06</iyy>
+                    <iyz>0</iyz>
+                    <izz>1e-06</izz>
+                </inertia>
+            </inertial>
+            <visual name="thruster8_visual">
+                <geometry>
+                    <mesh>
+                        <scale>1 1 1</scale>
+                        <uri>model://uuv_bluerov2_heavy/meshes/prop.dae</uri>
+                    </mesh>
+                </geometry>
+                <material>
+                    <script>
+                        <name>Gazebo/Green</name>
+                        <uri>file://media/materials/scripts/gazebo.material</uri>
+                    </script>
+                </material>
+            </visual>
+        </link>
+
+        <joint name="thruster8_joint" type="revolute">
+            <axis>
+                <xyz>0 0 1</xyz>
+                <limit>
+                    <lower>-1e+16</lower>
+                    <upper>1e+16</upper>
+                </limit>
+            </axis>
+            <parent>base_link</parent>
+            <child>thruster8</child>
+        </joint>
+
+        <plugin name="thruster8_model" filename="libgazebo_motor_model.so">
+            <robotNamespace />
+            <reversible>true</reversible>
+            <jointName>thruster8_joint</jointName>
+            <linkName>thruster8</linkName>
+            <turningDirection>ccw</turningDirection>
+            <timeConstantUp>0.0125</timeConstantUp>
+            <timeConstantDown>0.025</timeConstantDown>
+            <maxRotVelocity>1100</maxRotVelocity>
+            <motorConstant>10</motorConstant>
+            <momentConstant>0.01</momentConstant>
+            <rotorDragCoefficient>0</rotorDragCoefficient>
+            <rollingMomentCoefficient>0</rollingMomentCoefficient>
+            <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
+            <motorNumber>7</motorNumber>
+            <motorSpeedPubTopic>/motor_speed/7</motorSpeedPubTopic>
+            <rotorVelocitySlowdownSim>0.025</rotorVelocitySlowdownSim>
+        </plugin>
+    
+        <plugin name='magnetometer_plugin' filename='libgazebo_magnetometer_plugin.so'>
+            <robotNamespace/>
+            <pubRate>100</pubRate>
+            <noiseDensity>0.0004</noiseDensity>
+            <randomWalk>6.4e-06</randomWalk>
+            <biasCorrelationTime>600</biasCorrelationTime>
+            <magTopic>/mag</magTopic>
+        </plugin>
+    
+        <plugin name='groundtruth_plugin' filename='libgazebo_groundtruth_plugin.so'>
+            <robotNamespace/>
+        </plugin>
+    
+        <plugin name='barometer_plugin' filename='libgazebo_barometer_plugin.so'>
+            <robotNamespace/>
+            <pubRate>50</pubRate>
+            <baroTopic>/baro</baroTopic>
+        </plugin>
+
+        <plugin name="uuv_plugin" filename="libgazebo_uuv_plugin.so">
+            <robotNamespace />
+            <baseLinkName>base_link</baseLinkName>
+            <addedMassLinear>1.11 2.8 2.8</addedMassLinear>
+            <addedMassAngular>0.00451 0.0163 0.0163</addedMassAngular>
+            <dampingLinear>5.39 17.36 17.36</dampingLinear>
+            <dampingAngular>0.00114 0.007 0.007</dampingAngular>
+            <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
+            <buoyancy>
+                <link_name>base_link</link_name>
+                <origin>0 0 0</origin>
+                <compensation>1</compensation>
+                <height_scale_limit>0.05</height_scale_limit>
+            </buoyancy>
+        </plugin>
+
+        <plugin name="mavlink_interface" filename="libgazebo_mavlink_interface.so">
+            <robotNamespace />
+            <imuSubTopic>/imu</imuSubTopic>
+            <magSubTopic>/mag</magSubTopic>
+            <baroSubTopic>/baro</baroSubTopic>
+            <mavlink_addr>INADDR_ANY</mavlink_addr>
+            <mavlink_udp_port>{{ mavlink_udp_port }}</mavlink_udp_port>
+            <mavlink_tcp_port>{{ mavlink_tcp_port }}</mavlink_tcp_port>
+            <serialEnabled>{{ serial_enabled }}</serialEnabled>
+            <serialDevice>{{ serial_device }}</serialDevice>
+            <baudRate>{{ serial_baudrate }}</baudRate>
+            <qgc_addr>INADDR_ANY</qgc_addr>
+            <qgc_udp_port>14550</qgc_udp_port>
+            <sdk_addr>INADDR_ANY</sdk_addr>
+            <sdk_udp_port>14540</sdk_udp_port>
+            <hil_mode>{{ hil_mode }}</hil_mode>
+            <hil_state_level>false</hil_state_level>
+            <vehicle_is_tailsitter>false</vehicle_is_tailsitter>
+            <send_vision_estimation>0</send_vision_estimation>
+            <send_odometry>1</send_odometry>
+            <enable_lockstep>true</enable_lockstep>
+            <use_tcp>true</use_tcp>
+            <motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
+
+            <!-- control channels, this way for every channel different settings can be realized -->
+            <control_channels>
+                <channel name="thruster1">
+                    <input_index>0</input_index>
+                    <input_offset>0</input_offset>
+                    <input_scaling>1</input_scaling>
+                    <zero_position_disarmed>0</zero_position_disarmed>
+                    <zero_position_armed>0</zero_position_armed>
+                    <joint_control_type>velocity</joint_control_type>
+                    <joint_name>thruster1_joint</joint_name>
+                </channel>
+                <channel name="thruster2">
+                    <input_index>1</input_index>
+                    <input_offset>0</input_offset>
+                    <input_scaling>1</input_scaling>
+                    <zero_position_disarmed>0</zero_position_disarmed>
+                    <zero_position_armed>0</zero_position_armed>
+                    <joint_control_type>velocity</joint_control_type>
+                    <joint_name>thruster2_joint</joint_name>
+                </channel>
+                <channel name="thruster3">
+                    <input_index>2</input_index>
+                    <input_offset>0</input_offset>
+                    <input_scaling>1</input_scaling>
+                    <zero_position_disarmed>0</zero_position_disarmed>
+                    <zero_position_armed>0</zero_position_armed>
+                    <joint_control_type>velocity</joint_control_type>
+                    <joint_name>thruster3_joint</joint_name>
+                </channel>
+                <channel name="thruster4">
+                    <input_index>3</input_index>
+                    <input_offset>0</input_offset>
+                    <input_scaling>1</input_scaling>
+                    <zero_position_disarmed>0</zero_position_disarmed>
+                    <zero_position_armed>0</zero_position_armed>
+                    <joint_control_type>velocity</joint_control_type>
+                    <joint_name>thruster4_joint</joint_name>
+                </channel>
+                <channel name="thruster5">
+                    <input_index>4</input_index>
+                    <input_offset>0</input_offset>
+                    <input_scaling>1</input_scaling>
+                    <zero_position_disarmed>0</zero_position_disarmed>
+                    <zero_position_armed>0</zero_position_armed>
+                    <joint_control_type>velocity</joint_control_type>
+                    <joint_name>thruster5_joint</joint_name>
+                </channel>
+                <channel name="thruster6">
+                    <input_index>5</input_index>
+                    <input_offset>0</input_offset>
+                    <input_scaling>1</input_scaling>
+                    <zero_position_disarmed>0</zero_position_disarmed>
+                    <zero_position_armed>0</zero_position_armed>
+                    <joint_control_type>velocity</joint_control_type>
+                    <joint_name>thruster6_joint</joint_name>
+                </channel>
+                <channel name="thruster7">
+                    <input_index>6</input_index>
+                    <input_offset>0</input_offset>
+                    <input_scaling>1</input_scaling>
+                    <zero_position_disarmed>0</zero_position_disarmed>
+                    <zero_position_armed>0</zero_position_armed>
+                    <joint_control_type>velocity</joint_control_type>
+                    <joint_name>thruster7_joint</joint_name>
+                </channel>
+                <channel name="thruster8">
+                    <input_index>7</input_index>
+                    <input_offset>0</input_offset>
+                    <input_scaling>1</input_scaling>
+                    <zero_position_disarmed>0</zero_position_disarmed>
+                    <zero_position_armed>0</zero_position_armed>
+                    <joint_control_type>velocity</joint_control_type>
+                    <joint_name>thruster8_joint</joint_name>
+                </channel>
+            </control_channels>
+        </plugin>
+        
+        <plugin name='gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
+            <robotNamespace/>
+            <linkName>uuv_bluerov2_heavy/imu_link</linkName>
+            <imuTopic>/imu</imuTopic>
+            <gyroscopeNoiseDensity>0.0003394</gyroscopeNoiseDensity>
+            <gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk>
+            <gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime>
+            <gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma>
+            <accelerometerNoiseDensity>0.004</accelerometerNoiseDensity>
+            <accelerometerRandomWalk>0.006</accelerometerRandomWalk>
+            <accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime>
+            <accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma>
+        </plugin>
+
+    </model>
+</sdf>

From e8b1e0f9a91d74aed773c59ac7deb51fdd79d891 Mon Sep 17 00:00:00 2001
From: Matteo Del Seppia <71389092+matteodelseppia@users.noreply.github.com>
Date: Fri, 31 May 2024 00:01:05 +0200
Subject: [PATCH 3/3] Delete models/uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf

Deleting the SDF model in favor of the jinja template
---
 .../uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf | 718 ------------------
 1 file changed, 718 deletions(-)
 delete mode 100644 models/uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf

diff --git a/models/uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf b/models/uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf
deleted file mode 100644
index c1232f2236..0000000000
--- a/models/uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf
+++ /dev/null
@@ -1,718 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.6'>
-    <model name="uuv_bluerov2_heavy">
-        <pose>0 0 0 0 0 0</pose>
-
-        <link name="base_link">
-            <inertial>
-                <mass>11</mass>
-                <inertia>
-                    <ixx>0.1</ixx>
-                    <ixy>0</ixy>
-                    <ixz>0</ixz>
-                    <iyy>0.1</iyy>
-                    <iyz>0</iyz>
-                    <izz>0.1</izz>
-                </inertia>
-            </inertial>
-
-            <visual name="base_link_visual">
-                <geometry>
-                    <mesh>
-                        <uri>model://uuv_bluerov2_heavy/meshes/BlueROV2heavy.dae</uri>
-                    </mesh>
-
-                    <!-- <cylinder>
-                        <radius>.05</radius>
-                        <length>0.2</length>
-                    </cylinder> -->
-                </geometry>
-            </visual>
-
-        </link>
-        
-
-        <!-- IMU Link & Joint -->
-        <link name='uuv_bluerov2_heavy/imu_link'>
-            <pose>0 0 0 0 0 0</pose>
-            <inertial>
-                <pose>0 0 0 0 0 0</pose>
-                <mass>0.015</mass>
-                <inertia>
-                    <ixx>1e-05</ixx>
-                    <ixy>0</ixy>
-                    <ixz>0</ixz>
-                    <iyy>1e-05</iyy>
-                    <iyz>0</iyz>
-                    <izz>1e-05</izz>
-                </inertia>
-            </inertial>
-        </link>
-
-
-        <joint name='uuv_bluerov2_heavy/imu_joint' type='revolute'>
-            <child>uuv_bluerov2_heavy/imu_link</child>
-            <parent>base_link</parent>
-            <axis>
-                <xyz>1 0 0</xyz>
-                <limit>
-                    <lower>0</lower>
-                    <upper>0</upper>
-                    <effort>0</effort>
-                    <velocity>0</velocity>
-                </limit>
-                <dynamics>
-                    <spring_reference>0</spring_reference>
-                    <spring_stiffness>0</spring_stiffness>
-                </dynamics>
-                <use_parent_model_frame>1</use_parent_model_frame>
-            </axis>
-        </joint>
-
-
-        <!-- GPS -->
-        <include>
-            <uri>model://gps</uri>
-            <pose>0 0 0 0 0 0</pose>
-            <name>gps</name>
-        </include>
-        <joint name='gps_joint' type='fixed'>
-            <parent>base_link</parent>
-            <child>gps::link</child>
-        </joint>
-
-
-        <!-- Start of Thrusters  -->
-        <link name="thruster1">
-            <pose>0.14 -0.10 0 0 1.570796 0.78539815</pose>
-            <inertial>
-                <mass>1e-10</mass>
-                <inertia>
-                    <ixx>1e-06</ixx>
-                    <ixy>0</ixy>
-                    <ixz>0</ixz>
-                    <iyy>1e-06</iyy>
-                    <iyz>0</iyz>
-                    <izz>1e-06</izz>
-                </inertia>
-            </inertial>
-            <visual name="thruster1_visual">
-                <geometry>
-                    <mesh>
-                        <scale>1 1 1</scale>
-                        <uri>model://uuv_bluerov2_heavy/meshes/prop.dae</uri>
-                    </mesh>
-                </geometry>
-                <material>
-                    <script>
-                        <name>Gazebo/Green</name>
-                        <uri>model://uuv_bluerov2_heavy/meshes/prop.dae</uri>
-                    </script>
-                </material>
-            </visual>
-        </link>
-
-        <joint name="thruster1_joint" type="revolute">
-            <axis>
-                <xyz>0 0 1</xyz>
-                <limit>
-                    <lower>-1e+16</lower>
-                    <upper>1e+16</upper>
-                </limit>
-            </axis>
-            <parent>base_link</parent>
-            <child>thruster1</child>
-        </joint>
-
-        <plugin name="thruster1_model" filename="libgazebo_motor_model.so">
-            <robotNamespace />
-            <reversible>true</reversible>
-            <jointName>thruster1_joint</jointName>
-            <linkName>thruster1</linkName>
-            <turningDirection>ccw</turningDirection>
-            <timeConstantUp>0.0125</timeConstantUp>
-            <timeConstantDown>0.025</timeConstantDown>
-            <maxRotVelocity>1100</maxRotVelocity>
-            <motorConstant>10</motorConstant>
-            <momentConstant>0.01</momentConstant>
-            <rotorDragCoefficient>0</rotorDragCoefficient>
-            <rollingMomentCoefficient>0</rollingMomentCoefficient>
-            <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
-            <motorNumber>0</motorNumber>
-            <motorSpeedPubTopic>/motor_speed/0</motorSpeedPubTopic>
-            <rotorVelocitySlowdownSim>0.025</rotorVelocitySlowdownSim>
-        </plugin>
-
-        <link name="thruster2">
-            <pose>0.14 0.10 0 0 1.570796 -0.78539815</pose>
-            <inertial>
-                <mass>1e-10</mass>
-                <inertia>
-                    <ixx>1e-06</ixx>
-                    <ixy>0</ixy>
-                    <ixz>0</ixz>
-                    <iyy>1e-06</iyy>
-                    <iyz>0</iyz>
-                    <izz>1e-06</izz>
-                </inertia>
-            </inertial>
-            <visual name="thruster2_visual">
-                <geometry>
-                    <mesh>
-                        <scale>1 1 1</scale>
-                        <uri>model://uuv_bluerov2_heavy/meshes/prop.dae</uri>
-                    </mesh>
-                </geometry>
-                <material>
-                    <script>
-                        <name>Gazebo/Green</name>
-                        <uri>file://media/materials/scripts/gazebo.material</uri>
-                    </script>
-                </material>
-            </visual>
-        </link>
-
-        <joint name="thruster2_joint" type="revolute">
-            <axis>
-                <xyz>0 0 1</xyz>
-                <limit>
-                    <lower>-1e+16</lower>
-                    <upper>1e+16</upper>
-                </limit>
-            </axis>
-            <parent>base_link</parent>
-            <child>thruster2</child>
-        </joint>
-
-        <plugin name="thruster2_model" filename="libgazebo_motor_model.so">
-            <robotNamespace />
-            <reversible>true</reversible>
-            <jointName>thruster2_joint</jointName>
-            <linkName>thruster2</linkName>
-            <turningDirection>ccw</turningDirection>
-            <timeConstantUp>0.0125</timeConstantUp>
-            <timeConstantDown>0.025</timeConstantDown>
-            <maxRotVelocity>1100</maxRotVelocity>
-            <motorConstant>10</motorConstant>
-            <momentConstant>0.01</momentConstant>
-            <rotorDragCoefficient>0</rotorDragCoefficient>
-            <rollingMomentCoefficient>0</rollingMomentCoefficient>
-            <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
-            <motorNumber>1</motorNumber>
-            <motorSpeedPubTopic>/motor_speed/1</motorSpeedPubTopic>
-            <rotorVelocitySlowdownSim>0.025</rotorVelocitySlowdownSim>
-        </plugin>
-
-        <link name="thruster3">
-            <pose>-0.14 -0.10 0 0 1.570796 2.356194</pose>
-            <inertial>
-                <mass>1e-10</mass>
-                <inertia>
-                    <ixx>1e-06</ixx>
-                    <ixy>0</ixy>
-                    <ixz>0</ixz>
-                    <iyy>1e-06</iyy>
-                    <iyz>0</iyz>
-                    <izz>1e-06</izz>
-                </inertia>
-            </inertial>
-            <visual name="thruster3_visual">
-                <geometry>
-                    <mesh>
-                        <scale>1 1 1</scale>
-                        <uri>model://uuv_bluerov2_heavy/meshes/prop.dae</uri>
-                    </mesh>
-                </geometry>
-                <material>
-                    <script>
-                        <name>Gazebo/Blue</name>
-                        <uri>file://media/materials/scripts/gazebo.material</uri>
-                    </script>
-                </material>
-            </visual>
-        </link>
-
-        <joint name="thruster3_joint" type="revolute">
-            <axis>
-                <xyz>0 0 1</xyz>
-                <limit>
-                    <lower>-1e+16</lower>
-                    <upper>1e+16</upper>
-                </limit>
-            </axis>
-            <parent>base_link</parent>
-            <child>thruster3</child>
-        </joint>
-
-        <plugin name="thruster3_model" filename="libgazebo_motor_model.so">
-            <robotNamespace />
-            <reversible>true</reversible>
-            <jointName>thruster3_joint</jointName>
-            <linkName>thruster3</linkName>
-            <turningDirection>ccw</turningDirection>
-            <timeConstantUp>0.0125</timeConstantUp>
-            <timeConstantDown>0.025</timeConstantDown>
-            <maxRotVelocity>1100</maxRotVelocity>
-            <motorConstant>-10</motorConstant>
-            <momentConstant>-0.01</momentConstant>
-            <rotorDragCoefficient>0</rotorDragCoefficient>
-            <rollingMomentCoefficient>0</rollingMomentCoefficient>
-            <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
-            <motorNumber>2</motorNumber>
-            <motorSpeedPubTopic>/motor_speed/2</motorSpeedPubTopic>
-            <rotorVelocitySlowdownSim>0.025</rotorVelocitySlowdownSim>
-        </plugin>
-
-        <link name="thruster4">
-            <pose>-0.14 0.10 0 0 1.570796 -2.356194</pose>
-            <inertial>
-                <mass>1e-10</mass>
-                <inertia>
-                    <ixx>1e-06</ixx>
-                    <ixy>0</ixy>
-                    <ixz>0</ixz>
-                    <iyy>1e-06</iyy>
-                    <iyz>0</iyz>
-                    <izz>1e-06</izz>
-                </inertia>
-            </inertial>
-            <visual name="thruster4_visual">
-                <geometry>
-                    <mesh>
-                        <scale>1 1 1</scale>
-                        <uri>model://uuv_bluerov2_heavy/meshes/prop.dae</uri>
-                    </mesh>
-                </geometry>
-                <material>
-                    <script>
-                        <name>Gazebo/Blue</name>
-                        <uri>file://media/materials/scripts/gazebo.material</uri>
-                    </script>
-                </material>
-            </visual>
-        </link>
-
-        <joint name="thruster4_joint" type="revolute">
-            <axis>
-                <xyz>0 0 1</xyz>
-                <limit>
-                    <lower>-1e+16</lower>
-                    <upper>1e+16</upper>
-                </limit>
-            </axis>
-            <parent>base_link</parent>
-            <child>thruster4</child>
-        </joint>
-
-        <plugin name="thruster4_model" filename="libgazebo_motor_model.so">
-            <robotNamespace />
-            <reversible>true</reversible>
-            <jointName>thruster4_joint</jointName>
-            <linkName>thruster4</linkName>
-            <turningDirection>ccw</turningDirection>
-            <timeConstantUp>0.0125</timeConstantUp>
-            <timeConstantDown>0.025</timeConstantDown>
-            <maxRotVelocity>1100</maxRotVelocity>
-            <motorConstant>-10</motorConstant>
-            <momentConstant>-0.01</momentConstant>
-            <rotorDragCoefficient>0</rotorDragCoefficient>
-            <rollingMomentCoefficient>0</rollingMomentCoefficient>
-            <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
-            <motorNumber>3</motorNumber>
-            <motorSpeedPubTopic>/motor_speed/3</motorSpeedPubTopic>
-            <rotorVelocitySlowdownSim>0.025</rotorVelocitySlowdownSim>
-        </plugin>
-
-        <link name="thruster5">
-            <pose>0.12 -0.22 0.06 0 0 0</pose>
-            <inertial>
-                <mass>1e-10</mass>
-                <inertia>
-                    <ixx>1e-06</ixx>
-                    <ixy>0</ixy>
-                    <ixz>0</ixz>
-                    <iyy>1e-06</iyy>
-                    <iyz>0</iyz>
-                    <izz>1e-06</izz>
-                </inertia>
-            </inertial>
-            <visual name="thruster5_visual">
-                <geometry>
-                    <mesh>
-                        <scale>1 1 1</scale>
-                        <uri>model://uuv_bluerov2_heavy/meshes/prop.dae</uri>
-                    </mesh>
-                </geometry>
-                <material>
-                    <script>
-                        <name>Gazebo/Green</name>
-                        <uri>file://media/materials/scripts/gazebo.material</uri>
-                    </script>
-                </material>
-            </visual>
-        </link>
-
-        <joint name="thruster5_joint" type="revolute">
-            <axis>
-                <xyz>0 0 1</xyz>
-                <limit>
-                    <lower>-1e+16</lower>
-                    <upper>1e+16</upper>
-                </limit>
-            </axis>
-            <parent>base_link</parent>
-            <child>thruster5</child>
-        </joint>
-
-        <plugin name="thruster5_model" filename="libgazebo_motor_model.so">
-            <robotNamespace />
-            <reversible>true</reversible>
-            <jointName>thruster5_joint</jointName>
-            <linkName>thruster5</linkName>
-            <turningDirection>ccw</turningDirection>
-            <timeConstantUp>0.0125</timeConstantUp>
-            <timeConstantDown>0.025</timeConstantDown>
-            <maxRotVelocity>1100</maxRotVelocity>
-            <motorConstant>10</motorConstant>
-            <momentConstant>0.01</momentConstant>
-            <rotorDragCoefficient>0</rotorDragCoefficient>
-            <rollingMomentCoefficient>0</rollingMomentCoefficient>
-            <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
-            <motorNumber>4</motorNumber>
-            <motorSpeedPubTopic>/motor_speed/4</motorSpeedPubTopic>
-            <rotorVelocitySlowdownSim>0.025</rotorVelocitySlowdownSim>
-        </plugin>
-
-        <link name="thruster6">
-            <pose>0.12 0.22 0.06 0 0 0</pose>
-            <inertial>
-                <mass>1e-10</mass>
-                <inertia>
-                    <ixx>1e-06</ixx>
-                    <ixy>0</ixy>
-                    <ixz>0</ixz>
-                    <iyy>1e-06</iyy>
-                    <iyz>0</iyz>
-                    <izz>1e-06</izz>
-                </inertia>
-            </inertial>
-            <visual name="thruster6_visual">
-                <geometry>
-                    <mesh>
-                        <scale>1 1 1</scale>
-                        <uri>model://uuv_bluerov2_heavy/meshes/prop.dae</uri>
-                    </mesh>
-                </geometry>
-                <material>
-                    <script>
-                        <name>Gazebo/Blue</name>
-                        <uri>file://media/materials/scripts/gazebo.material</uri>
-                    </script>
-                </material>
-            </visual>
-        </link>
-
-        <joint name="thruster6_joint" type="revolute">
-            <axis>
-                <xyz>0 0 1</xyz>
-                <limit>
-                    <lower>-1e+16</lower>
-                    <upper>1e+16</upper>
-                </limit>
-            </axis>
-            <parent>base_link</parent>
-            <child>thruster6</child>
-        </joint>
-
-        <plugin name="thruster6_model" filename="libgazebo_motor_model.so">
-            <robotNamespace />
-            <reversible>true</reversible>
-            <jointName>thruster6_joint</jointName>
-            <linkName>thruster6</linkName>
-            <turningDirection>ccw</turningDirection>
-            <timeConstantUp>0.0125</timeConstantUp>
-            <timeConstantDown>0.025</timeConstantDown>
-            <maxRotVelocity>1100</maxRotVelocity>
-            <motorConstant>-10</motorConstant>
-            <momentConstant>-0.01</momentConstant>
-            <rotorDragCoefficient>0</rotorDragCoefficient>
-            <rollingMomentCoefficient>0</rollingMomentCoefficient>
-            <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
-            <motorNumber>5</motorNumber>
-            <motorSpeedPubTopic>/motor_speed/5</motorSpeedPubTopic>
-            <rotorVelocitySlowdownSim>0.025</rotorVelocitySlowdownSim>
-        </plugin>
-
-
-        <link name="thruster7">
-            <pose>-0.12 -0.22 0.06 0 0 0</pose>
-            <inertial>
-                <mass>1e-10</mass>
-                <inertia>
-                    <ixx>1e-06</ixx>
-                    <ixy>0</ixy>
-                    <ixz>0</ixz>
-                    <iyy>1e-06</iyy>
-                    <iyz>0</iyz>
-                    <izz>1e-06</izz>
-                </inertia>
-            </inertial>
-            <visual name="thruster7_visual">
-                <geometry>
-                    <mesh>
-                        <scale>1 1 1</scale>
-                        <uri>model://uuv_bluerov2_heavy/meshes/prop.dae</uri>
-                    </mesh>
-                </geometry>
-                <material>
-                    <script>
-                        <name>Gazebo/Blue</name>
-                        <uri>file://media/materials/scripts/gazebo.material</uri>
-                    </script>
-                </material>
-            </visual>
-        </link>
-
-        <joint name="thruster7_joint" type="revolute">
-            <axis>
-                <xyz>0 0 1</xyz>
-                <limit>
-                    <lower>-1e+16</lower>
-                    <upper>1e+16</upper>
-                </limit>
-            </axis>
-            <parent>base_link</parent>
-            <child>thruster7</child>
-        </joint>
-
-        <plugin name="thruster7_model" filename="libgazebo_motor_model.so">
-            <robotNamespace />
-            <reversible>true</reversible>
-            <jointName>thruster7_joint</jointName>
-            <linkName>thruster7</linkName>
-            <turningDirection>ccw</turningDirection>
-            <timeConstantUp>0.0125</timeConstantUp>
-            <timeConstantDown>0.025</timeConstantDown>
-            <maxRotVelocity>1100</maxRotVelocity>
-            <motorConstant>-10</motorConstant>
-            <momentConstant>-0.01</momentConstant>
-            <rotorDragCoefficient>0</rotorDragCoefficient>
-            <rollingMomentCoefficient>0</rollingMomentCoefficient>
-            <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
-            <motorNumber>6</motorNumber>
-            <motorSpeedPubTopic>/motor_speed/6</motorSpeedPubTopic>
-            <rotorVelocitySlowdownSim>0.025</rotorVelocitySlowdownSim>
-        </plugin>
-
-        <link name="thruster8">
-            <pose>-0.12 0.22 0.06 0 0 0</pose>
-            <inertial>
-                <mass>1e-10</mass>
-                <inertia>
-                    <ixx>1e-06</ixx>
-                    <ixy>0</ixy>
-                    <ixz>0</ixz>
-                    <iyy>1e-06</iyy>
-                    <iyz>0</iyz>
-                    <izz>1e-06</izz>
-                </inertia>
-            </inertial>
-            <visual name="thruster8_visual">
-                <geometry>
-                    <mesh>
-                        <scale>1 1 1</scale>
-                        <uri>model://uuv_bluerov2_heavy/meshes/prop.dae</uri>
-                    </mesh>
-                </geometry>
-                <material>
-                    <script>
-                        <name>Gazebo/Green</name>
-                        <uri>file://media/materials/scripts/gazebo.material</uri>
-                    </script>
-                </material>
-            </visual>
-        </link>
-
-        <joint name="thruster8_joint" type="revolute">
-            <axis>
-                <xyz>0 0 1</xyz>
-                <limit>
-                    <lower>-1e+16</lower>
-                    <upper>1e+16</upper>
-                </limit>
-            </axis>
-            <parent>base_link</parent>
-            <child>thruster8</child>
-        </joint>
-
-        <plugin name="thruster8_model" filename="libgazebo_motor_model.so">
-            <robotNamespace />
-            <reversible>true</reversible>
-            <jointName>thruster8_joint</jointName>
-            <linkName>thruster8</linkName>
-            <turningDirection>ccw</turningDirection>
-            <timeConstantUp>0.0125</timeConstantUp>
-            <timeConstantDown>0.025</timeConstantDown>
-            <maxRotVelocity>1100</maxRotVelocity>
-            <motorConstant>10</motorConstant>
-            <momentConstant>0.01</momentConstant>
-            <rotorDragCoefficient>0</rotorDragCoefficient>
-            <rollingMomentCoefficient>0</rollingMomentCoefficient>
-            <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
-            <motorNumber>7</motorNumber>
-            <motorSpeedPubTopic>/motor_speed/7</motorSpeedPubTopic>
-            <rotorVelocitySlowdownSim>0.025</rotorVelocitySlowdownSim>
-        </plugin>
-    
-        <plugin name='magnetometer_plugin' filename='libgazebo_magnetometer_plugin.so'>
-            <robotNamespace/>
-            <pubRate>100</pubRate>
-            <noiseDensity>0.0004</noiseDensity>
-            <randomWalk>6.4e-06</randomWalk>
-            <biasCorrelationTime>600</biasCorrelationTime>
-            <magTopic>/mag</magTopic>
-        </plugin>
-    
-        <plugin name='groundtruth_plugin' filename='libgazebo_groundtruth_plugin.so'>
-            <robotNamespace/>
-        </plugin>
-    
-        <plugin name='barometer_plugin' filename='libgazebo_barometer_plugin.so'>
-            <robotNamespace/>
-            <pubRate>50</pubRate>
-            <baroTopic>/baro</baroTopic>
-        </plugin>
-
-        <plugin name="uuv_plugin" filename="libgazebo_uuv_plugin.so">
-            <robotNamespace />
-            <baseLinkName>base_link</baseLinkName>
-            <addedMassLinear>1.11 2.8 2.8</addedMassLinear>
-            <addedMassAngular>0.00451 0.0163 0.0163</addedMassAngular>
-            <dampingLinear>5.39 17.36 17.36</dampingLinear>
-            <dampingAngular>0.00114 0.007 0.007</dampingAngular>
-            <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
-            <buoyancy>
-                <link_name>base_link</link_name>
-                <origin>0 0 0</origin>
-                <compensation>1</compensation>
-                <height_scale_limit>0.05</height_scale_limit>
-            </buoyancy>
-        </plugin>
-
-        <plugin name="mavlink_interface" filename="libgazebo_mavlink_interface.so">
-            <robotNamespace />
-            <imuSubTopic>/imu</imuSubTopic>
-            <magSubTopic>/mag</magSubTopic>
-            <baroSubTopic>/baro</baroSubTopic>
-            <mavlink_addr>INADDR_ANY</mavlink_addr>
-            <mavlink_udp_port>14560</mavlink_udp_port>
-            <mavlink_tcp_port>4560</mavlink_tcp_port>
-            <serialEnabled>0</serialEnabled>
-            <serialDevice>/dev/ttyACM0</serialDevice>
-            <baudRate>921600</baudRate>
-            <qgc_addr>INADDR_ANY</qgc_addr>
-            <qgc_udp_port>14550</qgc_udp_port>
-            <sdk_addr>INADDR_ANY</sdk_addr>
-            <sdk_udp_port>14540</sdk_udp_port>
-            <hil_mode>false</hil_mode>
-            <hil_state_level>false</hil_state_level>
-            <vehicle_is_tailsitter>false</vehicle_is_tailsitter>
-            <send_vision_estimation>0</send_vision_estimation>
-            <send_odometry>1</send_odometry>
-            <enable_lockstep>true</enable_lockstep>
-            <use_tcp>true</use_tcp>
-            <motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
-
-            <!-- control channels, this way for every channel different settings can be realized -->
-            <control_channels>
-                <channel name="thruster1">
-                    <input_index>0</input_index>
-                    <input_offset>0</input_offset>
-                    <input_scaling>1</input_scaling>
-                    <zero_position_disarmed>0</zero_position_disarmed>
-                    <zero_position_armed>0</zero_position_armed>
-                    <joint_control_type>velocity</joint_control_type>
-                    <joint_name>thruster1_joint</joint_name>
-                </channel>
-                <channel name="thruster2">
-                    <input_index>1</input_index>
-                    <input_offset>0</input_offset>
-                    <input_scaling>1</input_scaling>
-                    <zero_position_disarmed>0</zero_position_disarmed>
-                    <zero_position_armed>0</zero_position_armed>
-                    <joint_control_type>velocity</joint_control_type>
-                    <joint_name>thruster2_joint</joint_name>
-                </channel>
-                <channel name="thruster3">
-                    <input_index>2</input_index>
-                    <input_offset>0</input_offset>
-                    <input_scaling>1</input_scaling>
-                    <zero_position_disarmed>0</zero_position_disarmed>
-                    <zero_position_armed>0</zero_position_armed>
-                    <joint_control_type>velocity</joint_control_type>
-                    <joint_name>thruster3_joint</joint_name>
-                </channel>
-                <channel name="thruster4">
-                    <input_index>3</input_index>
-                    <input_offset>0</input_offset>
-                    <input_scaling>1</input_scaling>
-                    <zero_position_disarmed>0</zero_position_disarmed>
-                    <zero_position_armed>0</zero_position_armed>
-                    <joint_control_type>velocity</joint_control_type>
-                    <joint_name>thruster4_joint</joint_name>
-                </channel>
-                <channel name="thruster5">
-                    <input_index>4</input_index>
-                    <input_offset>0</input_offset>
-                    <input_scaling>1</input_scaling>
-                    <zero_position_disarmed>0</zero_position_disarmed>
-                    <zero_position_armed>0</zero_position_armed>
-                    <joint_control_type>velocity</joint_control_type>
-                    <joint_name>thruster5_joint</joint_name>
-                </channel>
-                <channel name="thruster6">
-                    <input_index>5</input_index>
-                    <input_offset>0</input_offset>
-                    <input_scaling>1</input_scaling>
-                    <zero_position_disarmed>0</zero_position_disarmed>
-                    <zero_position_armed>0</zero_position_armed>
-                    <joint_control_type>velocity</joint_control_type>
-                    <joint_name>thruster6_joint</joint_name>
-                </channel>
-                <channel name="thruster7">
-                    <input_index>6</input_index>
-                    <input_offset>0</input_offset>
-                    <input_scaling>1</input_scaling>
-                    <zero_position_disarmed>0</zero_position_disarmed>
-                    <zero_position_armed>0</zero_position_armed>
-                    <joint_control_type>velocity</joint_control_type>
-                    <joint_name>thruster7_joint</joint_name>
-                </channel>
-                <channel name="thruster8">
-                    <input_index>7</input_index>
-                    <input_offset>0</input_offset>
-                    <input_scaling>1</input_scaling>
-                    <zero_position_disarmed>0</zero_position_disarmed>
-                    <zero_position_armed>0</zero_position_armed>
-                    <joint_control_type>velocity</joint_control_type>
-                    <joint_name>thruster8_joint</joint_name>
-                </channel>
-            </control_channels>
-        </plugin>
-        
-        <plugin name='gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
-            <robotNamespace/>
-            <linkName>uuv_bluerov2_heavy/imu_link</linkName>
-            <imuTopic>/imu</imuTopic>
-            <gyroscopeNoiseDensity>0.0003394</gyroscopeNoiseDensity>
-            <gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk>
-            <gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime>
-            <gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma>
-            <accelerometerNoiseDensity>0.004</accelerometerNoiseDensity>
-            <accelerometerRandomWalk>0.006</accelerometerRandomWalk>
-            <accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime>
-            <accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma>
-        </plugin>
-
-    </model>
-</sdf>