[FEATURE]: Create a simulation environment to evaluate custom controllers in #14
Description
Feature Type
Adding new functionality to the BlueROV2 driver
Problem Description
There is no way to evaluate the performance of a custom controller or to perform basic controller tuning prior to hardware deployment.
Feature Description
Implement a simple simulation environment to test controllers in. This should include support to launch the ArduSub SITL environment and MAVROS using a BlueROV2 model.
Alternative Solutions
Another alternative is to fork the bluerov2_ignition project and extend this to support the BlueROV2 Heavy configuration. This would help reduce the work load associated with this issue. If this approach is taken, then support should be added in the bringup package and the Dockerfile for this project. ArduSub SITL support is still necessary for both solutions.
Additional Context
No response