Create a plugin that can control a thruster, or preferably a set of thrusters. Can try to borrow elements from https://gitlab.com/PalouseRobosub/Software/robosub_simulator/-/tree/master, especially the way they set up the thrusters and their plugin setup for that. NOTE: MUCH OF THEIR CODE IS NOT DIRECTLY COMPATIBLE. If borrowing ideas/structure from their format, it needs to be converted to work with our version of gazebo and ros, which is different from the versions they built their system on.
Create a plugin that can control a thruster, or preferably a set of thrusters. Can try to borrow elements from https://gitlab.com/PalouseRobosub/Software/robosub_simulator/-/tree/master, especially the way they set up the thrusters and their plugin setup for that. NOTE: MUCH OF THEIR CODE IS NOT DIRECTLY COMPATIBLE. If borrowing ideas/structure from their format, it needs to be converted to work with our version of gazebo and ros, which is different from the versions they built their system on.