BlueSim
BlueROV2 Simulator.
Download
Usage
- Open QGroundControl
- Set up a new communication link at TCP 127.0.0.1, port 5760.
- Launch BlueSim
- Chooset BlueRov2 Heavy
- Connect the new link in QGC
- Drive around using the gamepad as if controlling a real BlueRov2.
Default keys:
If there is not SITL instance attached, these keys can be used to control the ROV:
| Action | Key |
|---|---|
| Downwards | Shift |
| Upwards | Space |
| Forward | Up |
| Backwards | Down |
| Rotate right | Right |
| Rotate left | Left |
| Strafe right | D |
| Strafe left | A |
| Lights down | 1 |
| Lights up | 2 |
| Close gripper | 3 |
| Open gripper | 4 |
| Tilt camera down | 5 |
| Tilt camera up | 6 |
SITL integration:
Before opening Bluesim (it launches its own SITL instance), run:sim_vehicle.py -j6 -L RATBeach -v ArduSub -f vectored_6dof JSON --out=udpout:0.0.0.0:14550
External Levels
External levels can be loaded by placing a .pck file in the "levels" folder at the same level as the simulator executable (the folder is created at first run if it does not exist).
The pck file must have a custom_level.tscn scene, which will be loaded in runtime and added as a child to baselevel.tscn, which contains the ROV, water, sky, and other basic functionality.
The root node at "custom_level.tscn" should preferably be a spatial node with all your custom 3D scene within it.
Sunken Ship Level
A sample level with a sunken ship can be downloaded here.