kev-the-dev
commented
5 years ago @RustyBamboo and I have both started on this. First one to PR gets a cookie!
I have a (nominally) working version in python, which should be accurate once certain constants (mass, inertials, drag) are determined.
As an alternative to #372, have a separate, custom written node to simulate the sub's dynamics. Subscribe to /wrench, handle dynamics, and publish /odom. Configure launch files a necessary to easily test the GNC stack up through move commands using this lightweight simulator