Add a simulated pinger using the mil_common plugin. This does not actually simulate acoustics, but just sends out a vector from the reference sensor to a model in gazebo.
Add passive_sonar into the main launch, so it runs when the sub is launched. This will also be sure to show the pinger visualization in the sim. I'm not sure if there was a particular reason this was not already the cast, so lmk if there was reason
Modify the default rviz config to show the pinger heading visualziation
This should make it possible to simulate the pinger mission in the sim :)
Requires uf-mil/mil_common#203
This should make it possible to simulate the pinger mission in the sim :)