Migrate simulation from uuv_simulator to raw Gazebo

See branch wip-underwater in the qubo repo: https://code.umd.edu/robotics-at-maryland/qubo

This will be for the new setup, so you should be running latest Gazebo and Ubuntu 22.04 of some kind. See the Gazebo installation instructions.

• Does this relate to model based controller? Because may want same model in simulation and in the live robot.

See examples provided by Gazebo under the directory /usr/share/ignition/ignition-gazebo6/worlds/

Links

Gazebo

• Simulating underwater vehicles in Gazebo
• Simulating a Doppler Velocity Logger (DVL)
• Gazebo documentation
• Ignition Gazebo Buoyancy Class Reference
• Older hydrodynamics tutorial that may be useful

SDF (XML format used to specify models in Gazebo)

• SDF Spec