There appears to be a "physics" option for the gazebo launch file that is meant to have gazebo simulate the kinematics of the sub (buoyancy/drag/thrust) instead of following the carrot. However, this option does not seem fully implemented and does not work from my testing. Implement/Fix this functionality so the controller/thruster stack can be simulated and tested using gazebo.
There appears to be a "physics" option for the gazebo launch file that is meant to have gazebo simulate the kinematics of the sub (buoyancy/drag/thrust) instead of following the carrot. However, this option does not seem fully implemented and does not work from my testing. Implement/Fix this functionality so the controller/thruster stack can be simulated and tested using gazebo.