From c1c00f18c19fe0f3e7f1f81d97e67905e94e6df4 Mon Sep 17 00:00:00 2001
From: Rakesh Vivekanandan <rakeshvivek97@gmail.com>
Date: Fri, 6 Sep 2024 05:54:36 +0530
Subject: [PATCH 01/11] Moved ros_gz_bridge to config folder

---
 models/dave_robot_models/CMakeLists.txt       |  2 +-
 .../glider_slocum/ros_gz_bridge.py}           |  0
 .../rexrov/ros_gz_bridge.py}                  |  0
 .../launch/upload_robot.launch.py             | 38 ++++++++-----------
 4 files changed, 17 insertions(+), 23 deletions(-)
 rename models/dave_robot_models/{launch/glider_slocum.launch.py => config/glider_slocum/ros_gz_bridge.py} (100%)
 rename models/dave_robot_models/{launch/rexrov.launch.py => config/rexrov/ros_gz_bridge.py} (100%)

diff --git a/models/dave_robot_models/CMakeLists.txt b/models/dave_robot_models/CMakeLists.txt
index 3f90e5d8..5c0e66cc 100644
--- a/models/dave_robot_models/CMakeLists.txt
+++ b/models/dave_robot_models/CMakeLists.txt
@@ -4,7 +4,7 @@ project(dave_robot_models)
 find_package(ament_cmake REQUIRED)
 
 install(
-  DIRECTORY description launch meshes
+  DIRECTORY description launch meshes config
   DESTINATION share/dave_robot_models
 )
 
diff --git a/models/dave_robot_models/launch/glider_slocum.launch.py b/models/dave_robot_models/config/glider_slocum/ros_gz_bridge.py
similarity index 100%
rename from models/dave_robot_models/launch/glider_slocum.launch.py
rename to models/dave_robot_models/config/glider_slocum/ros_gz_bridge.py
diff --git a/models/dave_robot_models/launch/rexrov.launch.py b/models/dave_robot_models/config/rexrov/ros_gz_bridge.py
similarity index 100%
rename from models/dave_robot_models/launch/rexrov.launch.py
rename to models/dave_robot_models/config/rexrov/ros_gz_bridge.py
diff --git a/models/dave_robot_models/launch/upload_robot.launch.py b/models/dave_robot_models/launch/upload_robot.launch.py
index b22c0543..fa505185 100755
--- a/models/dave_robot_models/launch/upload_robot.launch.py
+++ b/models/dave_robot_models/launch/upload_robot.launch.py
@@ -8,7 +8,6 @@
 from launch.substitutions import (
     LaunchConfiguration,
     PathJoinSubstitution,
-    EqualsSubstitution,
 )
 from launch.conditions import IfCondition
 from launch_ros.substitutions import FindPackageShare
@@ -138,31 +137,26 @@ def generate_launch_description():
 
     nodes = [tf2_spawner, gz_spawner]
 
-    # Include the Rexrov launch file if the namespace is "rexrov"
-    rexrov_launch = IncludeLaunchDescription(
+    # Include ros_gz_bridge.py based on the model name
+    ros_gz_bridge = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            PathJoinSubstitution(
-                [FindPackageShare("dave_robot_models"), "launch", "rexrov.launch.py"]
-            )
+            [
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("dave_robot_models"),
+                        "config",
+                        namespace,
+                        "ros_gz_bridge.py",
+                    ]
+                )
+            ]
         ),
-        condition=IfCondition(EqualsSubstitution(namespace, "rexrov")),
+        launch_arguments={
+            "namespace": namespace,
+        }.items(),
     )
 
-    # Include the Glider launch file if the namespace is "glider_slocum"
-    glider_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            PathJoinSubstitution(
-                [
-                    FindPackageShare("dave_robot_models"),
-                    "launch",
-                    "glider_slocum.launch.py",
-                ]
-            )
-        ),
-        condition=IfCondition(EqualsSubstitution(namespace, "glider_slocum")),
-    )
-
-    include = [rexrov_launch, glider_launch]
+    include = [ros_gz_bridge]
 
     event_handlers = [
         RegisterEventHandler(

From 9aeb45282afcdf98209cfb4edc8f39a3f081ea86 Mon Sep 17 00:00:00 2001
From: Rakesh Vivekanandan <rakeshvivek97@gmail.com>
Date: Fri, 6 Sep 2024 06:44:40 +0530
Subject: [PATCH 02/11] Added bluerov2 models (regular and heavy) and modified
 ros_gz_bridges; TODO: fix ardupilot-gz dep, move the camera's position in the
 bluerov2 models.

---
 .../config/bluerov2/ros_gz_bridge.py          |   51 +
 .../config/bluerov2_heavy/ros_gz_bridge.py    |   51 +
 .../config/glider_slocum/ros_gz_bridge.py     |   45 +-
 .../config/rexrov/ros_gz_bridge.py            |   42 +-
 .../description/bluerov2/model.config         |   19 +
 .../description/bluerov2/model.sdf            |  496 ++++++
 .../description/bluerov2_heavy/model.config   |   19 +
 .../description/bluerov2_heavy/model.sdf      |  601 +++++++
 .../meshes/bluerov2/bluerov2.dae              |  719 ++++++++
 .../meshes/bluerov2_heavy/bluerov2_heavy.dae  | 1476 +++++++++++++++++
 .../meshes/t200/ccw_prop.dae                  |  101 ++
 .../dave_robot_models/meshes/t200/cw_prop.dae |  101 ++
 12 files changed, 3690 insertions(+), 31 deletions(-)
 create mode 100644 models/dave_robot_models/config/bluerov2/ros_gz_bridge.py
 create mode 100644 models/dave_robot_models/config/bluerov2_heavy/ros_gz_bridge.py
 create mode 100644 models/dave_robot_models/description/bluerov2/model.config
 create mode 100644 models/dave_robot_models/description/bluerov2/model.sdf
 create mode 100644 models/dave_robot_models/description/bluerov2_heavy/model.config
 create mode 100644 models/dave_robot_models/description/bluerov2_heavy/model.sdf
 create mode 100644 models/dave_robot_models/meshes/bluerov2/bluerov2.dae
 create mode 100644 models/dave_robot_models/meshes/bluerov2_heavy/bluerov2_heavy.dae
 create mode 100644 models/dave_robot_models/meshes/t200/ccw_prop.dae
 create mode 100644 models/dave_robot_models/meshes/t200/cw_prop.dae

diff --git a/models/dave_robot_models/config/bluerov2/ros_gz_bridge.py b/models/dave_robot_models/config/bluerov2/ros_gz_bridge.py
new file mode 100644
index 00000000..6c092bab
--- /dev/null
+++ b/models/dave_robot_models/config/bluerov2/ros_gz_bridge.py
@@ -0,0 +1,51 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+
+
+def launch_setup(context, *args, **kwargs):
+    namespace = LaunchConfiguration("namespace").perform(context)
+
+    thruster_joints = []
+    for thruster in range(1, 7):
+        thruster_joints.append(f"/model/{namespace}/joint/thruster{thruster}_joint")
+
+    bluerov2_arguments = (
+        [f"{joint}/cmd_thrust@std_msgs/msg/Float64@gz.msgs.Double" for joint in thruster_joints]
+        + [f"{joint}/ang_vel@std_msgs/msg/Float64@gz.msgs.Double" for joint in thruster_joints]
+        + [
+            f"{joint}/enable_deadband@std_msgs/msg/Bool@gz.msgs.Boolean"
+            for joint in thruster_joints
+        ]
+        + [
+            f"/model/{namespace}/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry",
+            f"/model/{namespace}/odometry_with_covariance@nav_msgs/msg/Odometry@gz.msgs.OdometryWithCovariance",
+            f"/model/{namespace}/pose@geometry_msgs/msg/PoseArray@gz.msgs.Pose_V",
+            f"/model/{namespace}/imu@sensor_msgs/msg/Imu@gz.msgs.IMU",
+            f"/model/{namespace}/magnetometer@sensor_msgs/msg/MagneticField@gz.msgs.Magnetometer",
+            f"/model/{namespace}/camera/image_raw@sensor_msgs/msg/Image@gz.msgs.Image",
+            f"/model/{namespace}/camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo",
+        ]
+    )
+
+    bluerov2_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=bluerov2_arguments,
+        output="screen",
+    )
+
+    return [bluerov2_bridge]
+
+
+def generate_launch_description():
+    args = [
+        DeclareLaunchArgument(
+            "namespace",
+            default_value="",
+            description="Namespace",
+        ),
+    ]
+
+    return LaunchDescription(args + [OpaqueFunction(function=launch_setup)])
diff --git a/models/dave_robot_models/config/bluerov2_heavy/ros_gz_bridge.py b/models/dave_robot_models/config/bluerov2_heavy/ros_gz_bridge.py
new file mode 100644
index 00000000..ee7e525a
--- /dev/null
+++ b/models/dave_robot_models/config/bluerov2_heavy/ros_gz_bridge.py
@@ -0,0 +1,51 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+
+
+def launch_setup(context, *args, **kwargs):
+    namespace = LaunchConfiguration("namespace").perform(context)
+
+    thruster_joints = []
+    for thruster in range(1, 9):
+        thruster_joints.append(f"/model/{namespace}/joint/thruster{thruster}_joint")
+
+    bluerov2_heavy_arguments = (
+        [f"{joint}/cmd_thrust@std_msgs/msg/Float64@gz.msgs.Double" for joint in thruster_joints]
+        + [f"{joint}/ang_vel@std_msgs/msg/Float64@gz.msgs.Double" for joint in thruster_joints]
+        + [
+            f"{joint}/enable_deadband@std_msgs/msg/Bool@gz.msgs.Boolean"
+            for joint in thruster_joints
+        ]
+        + [
+            f"/model/{namespace}/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry",
+            f"/model/{namespace}/odometry_with_covariance@nav_msgs/msg/Odometry@gz.msgs.OdometryWithCovariance",
+            f"/model/{namespace}/pose@geometry_msgs/msg/PoseArray@gz.msgs.Pose_V",
+            f"/model/{namespace}/imu@sensor_msgs/msg/Imu@gz.msgs.IMU",
+            f"/model/{namespace}/magnetometer@sensor_msgs/msg/MagneticField@gz.msgs.Magnetometer",
+            f"/model/{namespace}/camera/image_raw@sensor_msgs/msg/Image@gz.msgs.Image",
+            f"/model/{namespace}/camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo",
+        ]
+    )
+
+    bluerov2_heavy_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=bluerov2_heavy_arguments,
+        output="screen",
+    )
+
+    return [bluerov2_heavy_bridge]
+
+
+def generate_launch_description():
+    args = [
+        DeclareLaunchArgument(
+            "namespace",
+            default_value="",
+            description="Namespace",
+        ),
+    ]
+
+    return LaunchDescription(args + [OpaqueFunction(function=launch_setup)])
diff --git a/models/dave_robot_models/config/glider_slocum/ros_gz_bridge.py b/models/dave_robot_models/config/glider_slocum/ros_gz_bridge.py
index 59ba3060..0d4055a9 100644
--- a/models/dave_robot_models/config/glider_slocum/ros_gz_bridge.py
+++ b/models/dave_robot_models/config/glider_slocum/ros_gz_bridge.py
@@ -1,24 +1,41 @@
 from launch import LaunchDescription
 from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
 
 
-def generate_launch_description():
+def launch_setup(context, *args, **kwargs):
+    namespace = LaunchConfiguration("namespace").perform(context)
+
+    glider_slocum_arguments = [
+        f"/model/{namespace}/battery/battery/state@sensor_msgs/msg/BatteryState@gz.msgs.BatteryState",
+        f"/model/{namespace}/joint/propeller_joint/cmd_thrust@std_msgs/msg/Float64@gz.msgs.Double",
+        f"/model/{namespace}/joint/propeller_joint/ang_vel@std_msgs/msg/Float64@gz.msgs.Double",
+        f"/model/{namespace}/joint/propeller_joint/enable_deadband@std_msgs/msg/Bool@gz.msgs.Boolean",
+        f"/model/{namespace}/navsat@sensor_msgs/msg/NavSatFix@gz.msgs.NavSat",
+        f"/model/{namespace}/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry",
+        f"/model/{namespace}/odometry_with_covariance@nav_msgs/msg/Odometry@gz.msgs.OdometryWithCovariance",
+        f"/model/{namespace}/pose@geometry_msgs/msg/PoseArray@gz.msgs.Pose_V",
+        f"/model/{namespace}/imu@sensor_msgs/msg/Imu@gz.msgs.IMU",
+    ]
 
-    glider_bridge = Node(
+    glider_slocum_bridge = Node(
         package="ros_gz_bridge",
         executable="parameter_bridge",
-        arguments=[
-            "/model/glider_slocum/battery/battery/state@sensor_msgs/msg/BatteryState@gz.msgs.BatteryState",
-            "/model/glider_slocum/joint/propeller_joint/cmd_thrust@std_msgs/msg/Float64@gz.msgs.Double",
-            "/model/glider_slocum/joint/propeller_joint/ang_vel@std_msgs/msg/Float64@gz.msgs.Double",
-            "/model/glider_slocum/joint/propeller_joint/enable_deadband@std_msgs/msg/Bool@gz.msgs.Boolean",
-            "/model/glider_slocum/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry",
-            "/model/glider_slocum/odometry_with_covariance@nav_msgs/msg/Odometry@gz.msgs.OdometryWithCovariance",
-            "/model/glider_slocum/pose@geometry_msgs/msg/PoseArray@gz.msgs.Pose_V",
-            "/model/glider_slocum/navsat@sensor_msgs/msg/NavSatFix@gz.msgs.NavSat",
-            "/model/glider_slocum/imu@sensor_msgs/msg/Imu@gz.msgs.IMU",
-        ],
+        arguments=glider_slocum_arguments,
         output="screen",
     )
 
-    return LaunchDescription([glider_bridge])
+    return [glider_slocum_bridge]
+
+
+def generate_launch_description():
+    args = [
+        DeclareLaunchArgument(
+            "namespace",
+            default_value="",
+            description="Namespace",
+        ),
+    ]
+
+    return LaunchDescription(args + [OpaqueFunction(function=launch_setup)])
diff --git a/models/dave_robot_models/config/rexrov/ros_gz_bridge.py b/models/dave_robot_models/config/rexrov/ros_gz_bridge.py
index 39e00c0d..7ba5fed4 100644
--- a/models/dave_robot_models/config/rexrov/ros_gz_bridge.py
+++ b/models/dave_robot_models/config/rexrov/ros_gz_bridge.py
@@ -1,19 +1,15 @@
 from launch import LaunchDescription
 from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
 
 
-def generate_launch_description():
+def launch_setup(context, *args, **kwargs):
+    namespace = LaunchConfiguration("namespace").perform(context)
 
-    thruster_joints = [
-        "/model/rexrov/joint/thruster1_joint",
-        "/model/rexrov/joint/thruster2_joint",
-        "/model/rexrov/joint/thruster3_joint",
-        "/model/rexrov/joint/thruster4_joint",
-        "/model/rexrov/joint/thruster5_joint",
-        "/model/rexrov/joint/thruster6_joint",
-        "/model/rexrov/joint/thruster7_joint",
-        "/model/rexrov/joint/thruster8_joint",
-    ]
+    thruster_joints = []
+    for thruster in range(1, 9):
+        thruster_joints.append(f"/model/{namespace}/joint/thruster{thruster}_joint")
 
     rexrov_arguments = (
         [f"{joint}/cmd_thrust@std_msgs/msg/Float64@gz.msgs.Double" for joint in thruster_joints]
@@ -23,11 +19,11 @@ def generate_launch_description():
             for joint in thruster_joints
         ]
         + [
-            "/model/rexrov/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry",
-            "/model/rexrov/odometry_with_covariance@nav_msgs/msg/Odometry@gz.msgs.OdometryWithCovariance",
-            "/model/rexrov/pose@geometry_msgs/msg/PoseArray@gz.msgs.Pose_V",
-            "/model/rexrov/imu@sensor_msgs/msg/Imu@gz.msgs.IMU",
-            "/model/rexrov/magnetometer@sensor_msgs/msg/MagneticField@gz.msgs.Magnetometer",
+            f"/model/{namespace}/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry",
+            f"/model/{namespace}/odometry_with_covariance@nav_msgs/msg/Odometry@gz.msgs.OdometryWithCovariance",
+            f"/model/{namespace}/pose@geometry_msgs/msg/PoseArray@gz.msgs.Pose_V",
+            f"/model/{namespace}/imu@sensor_msgs/msg/Imu@gz.msgs.IMU",
+            f"/model/{namespace}/magnetometer@sensor_msgs/msg/MagneticField@gz.msgs.Magnetometer",
         ]
     )
 
@@ -38,4 +34,16 @@ def generate_launch_description():
         output="screen",
     )
 
-    return LaunchDescription([rexrov_bridge])
+    return [rexrov_bridge]
+
+
+def generate_launch_description():
+    args = [
+        DeclareLaunchArgument(
+            "namespace",
+            default_value="",
+            description="Namespace",
+        ),
+    ]
+
+    return LaunchDescription(args + [OpaqueFunction(function=launch_setup)])
diff --git a/models/dave_robot_models/description/bluerov2/model.config b/models/dave_robot_models/description/bluerov2/model.config
new file mode 100644
index 00000000..8eb0ac04
--- /dev/null
+++ b/models/dave_robot_models/description/bluerov2/model.config
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>bluerov2</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>Patrick Jose Pereira</name>
+    <email>patrick@bluerobotics.com</email>
+  </author>
+
+  <maintainer email="patrick@bluerobotics.com">Patrick Jose Pereira</maintainer>
+  <maintainer email="rakeshvivek97@gmail.com">Rakesh Vivekanandan</maintainer>
+
+  <description>
+    Blue Robotics BlueROV2 model
+  </description>
+</model>
diff --git a/models/dave_robot_models/description/bluerov2/model.sdf b/models/dave_robot_models/description/bluerov2/model.sdf
new file mode 100644
index 00000000..13f1b304
--- /dev/null
+++ b/models/dave_robot_models/description/bluerov2/model.sdf
@@ -0,0 +1,496 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<sdf version="1.6">
+  <model name="bluerov2">
+    <pose>0 0 0 0 0 0</pose>
+
+    <!-- BlueROV2 thruster reference: http://www.ardusub.com/introduction/features.html -->
+
+    <link name="base_link">
+      <inertial>
+        <pose>0.0 0.0 0.011 0 0 0</pose>
+        <mass>10.0</mass>
+        <inertia>
+          <ixx>0.099</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.178</iyy>
+          <iyz>0</iyz>
+          <izz>0.269</izz>
+        </inertia>
+      </inertial>
+
+      <visual name="base_link_visual">
+        <geometry>
+          <mesh>
+            <uri>model://meshes/bluerov2/bluerov2.dae</uri>
+            <scale>0.025 0.025 0.025</scale>
+          </mesh>
+        </geometry>
+      </visual>
+
+      <!-- Collision volume * fluid_density == displaced mass, used by BuoyancyPlugin -->
+      <collision name="base_link_collision">
+        <pose>0.0 0.0 0.06 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.457 0.338 0.065</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <!-- IMU sensor gyro and accel data will be sent to ArduSub -->
+      <sensor name="imu_sensor" type="imu">
+        <!-- Transform from the Gazebo body frame (x-forward, y-left, z-up)
+             to the ArduPilot body frame (x-forward, y-right, z-down) -->
+        <pose>0 0 0 3.142 0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>1000.0</update_rate>
+        <topic>/model/bluerov2/imu</topic>
+      </sensor>
+
+    </link>
+
+    <link name="camera_link">
+      <inertial>
+        <mass>0.0001</mass>
+        <inertia>
+          <ixx>0.0001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0001</iyy>
+          <iyz>0</iyz>
+          <izz>0.0001</izz>
+        </inertia>
+      </inertial>
+      <sensor name="camera" type="camera">
+        <camera>
+          <horizontal_fov>1.0855</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1080</height>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>500</far>
+          </clip>
+        </camera>
+        <always_on>true</always_on>
+        <update_rate>10</update_rate>
+        <visualize>true</visualize>
+        <topic>/model/bluerov2/camera/image_raw</topic>
+      </sensor>
+    </link>
+
+    <link name="camera_mount_link">
+      <inertial>
+        <mass>0.0001</mass>
+        <inertia>
+          <ixx>0.0001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0001</iyy>
+          <iyz>0</iyz>
+          <izz>0.0001</izz>
+        </inertia>
+      </inertial>
+    </link>
+
+    <joint name="camera_joint" type="fixed">
+      <parent>camera_mount_link</parent>
+      <child>camera_link</child>
+      <pose>0 0 0 0 0 0</pose>
+    </joint>
+
+    <joint name="camera_mount_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>camera_mount_link</child>
+      <pose>0.21 0 0.067 -1.571 0 -1.571</pose>
+    </joint>
+
+    <!-- Hydrodynamics plugin -->
+    <plugin
+        filename="gz-sim-hydrodynamics-system"
+        name="gz::sim::systems::Hydrodynamics">
+      <link_name>base_link</link_name>
+      <water_density>1025.0</water_density>
+      <!-- Added mass: -->
+      <xDotU>0</xDotU>
+      <yDotV>0</yDotV>
+      <zDotW>0</zDotW>
+      <kDotP>0</kDotP>
+      <mDotQ>0</mDotQ>
+      <nDotR>0</nDotR>
+      <!-- First order stability derivative: -->
+      <xU>0</xU>
+      <yV>0</yV>
+      <zW>0</zW>
+      <kP>0</kP>
+      <mQ>0</mQ>
+      <nR>0</nR>
+      <!-- Second order stability derivative: -->
+      <xUabsU>-33.732</xUabsU>
+      <yVabsV>-54.16</yVabsV>
+      <zWabsW>-73.225</zWabsW>
+      <kPabsP>-3.992</kPabsP>
+      <mQabsQ>-3.992</mQabsQ>
+      <nRabsR>-3.992</nRabsR>
+    </plugin>
+
+    <link name="thruster1">
+      <pose>0.14 -0.092 0.0 -1.571 1.571 -0.785</pose>
+      <visual name="thruster_prop_visual">
+        <pose>0 0 0 -1.571 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://meshes/t200/ccw_prop.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <inertial>
+        <mass>0.002</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+    </link>
+
+    <link name="thruster2">
+      <pose>0.14 0.092 0.0 -1.571 1.571 -2.356</pose>
+      <visual name="thruster_prop_visual">
+        <pose>0 0 0 -1.571 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://meshes/t200/ccw_prop.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <inertial>
+        <mass>0.002</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+    </link>
+
+    <link name="thruster3">
+      <pose>-0.15 -0.092 0.0 -1.571 1.571 0.785</pose>
+      <visual name="thruster_prop_visual">
+        <pose>0 0 0 1.571 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://meshes/t200/cw_prop.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <inertial>
+        <mass>0.002</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+    </link>
+
+    <link name="thruster4">
+      <pose>-0.15 0.092 0.0 -1.571 1.571 2.356</pose>
+      <visual name="thruster_prop_visual">
+        <pose>0 0 0 1.571 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://meshes/t200/cw_prop.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <inertial>
+        <mass>0.002</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+    </link>
+
+    <link name="thruster5">
+      <pose>0.0 -0.109 0.077 0 0 0</pose>
+      <visual name="thruster_prop_visual">
+        <pose>0 0 0 -1.571 0 1.571</pose>
+        <geometry>
+          <mesh>
+            <uri>model://meshes/t200/ccw_prop.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <inertial>
+        <mass>0.002</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+    </link>
+
+    <link name="thruster6">
+      <pose>0.0 0.109 0.077 0 0 0</pose>
+      <visual name="thruster_prop_visual">
+        <pose>0 0 0 1.571 0 1.571</pose>
+        <geometry>
+          <mesh>
+            <uri>model://meshes/t200/cw_prop.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <inertial>
+        <mass>0.002</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+    </link>
+
+    <joint name="thruster1_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>thruster1</child>
+      <axis>
+        <xyz>0 0 -1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="thruster2_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>thruster2</child>
+      <axis>
+        <xyz>0 0 -1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="thruster3_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>thruster3</child>
+      <axis>
+        <xyz>0 0 -1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="thruster4_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>thruster4</child>
+      <axis>
+        <xyz>0 0 -1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="thruster5_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>thruster5</child>
+      <axis>
+        <xyz>0 0 -1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="thruster6_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>thruster6</child>
+      <axis>
+        <xyz>0 0 -1</xyz>
+      </axis>
+    </joint>
+
+    <plugin
+        filename="gz-sim-thruster-system"
+        name="gz::sim::systems::Thruster">
+      <namespace>bluerov2</namespace>
+      <joint_name>thruster1_joint</joint_name>
+      <thrust_coefficient>0.02</thrust_coefficient>
+      <fluid_density>1025.0</fluid_density>
+      <propeller_diameter>0.1</propeller_diameter>
+      <velocity_control>true</velocity_control>
+      <use_angvel_cmd>False</use_angvel_cmd>
+    </plugin>
+
+    <plugin
+        filename="gz-sim-thruster-system"
+        name="gz::sim::systems::Thruster">
+      <namespace>bluerov2</namespace>
+      <joint_name>thruster2_joint</joint_name>
+      <thrust_coefficient>0.02</thrust_coefficient>
+      <fluid_density>1025.0</fluid_density>
+      <propeller_diameter>0.1</propeller_diameter>
+      <velocity_control>true</velocity_control>
+      <use_angvel_cmd>False</use_angvel_cmd>
+    </plugin>
+
+    <plugin
+        filename="gz-sim-thruster-system"
+        name="gz::sim::systems::Thruster">
+      <namespace>bluerov2</namespace>
+      <joint_name>thruster3_joint</joint_name>
+      <!-- Reverse spin to balance torque -->
+      <thrust_coefficient>-0.02</thrust_coefficient>
+      <fluid_density>1025.0</fluid_density>
+      <propeller_diameter>0.1</propeller_diameter>
+      <velocity_control>true</velocity_control>
+      <use_angvel_cmd>False</use_angvel_cmd>
+    </plugin>
+
+    <plugin
+        filename="gz-sim-thruster-system"
+        name="gz::sim::systems::Thruster">
+      <namespace>bluerov2</namespace>
+      <joint_name>thruster4_joint</joint_name>
+      <!-- Reverse spin to balance torque -->
+      <thrust_coefficient>-0.02</thrust_coefficient>
+      <fluid_density>1025.0</fluid_density>
+      <propeller_diameter>0.1</propeller_diameter>
+      <velocity_control>true</velocity_control>
+      <use_angvel_cmd>False</use_angvel_cmd>
+    </plugin>
+
+    <plugin
+        filename="gz-sim-thruster-system"
+        name="gz::sim::systems::Thruster">
+      <namespace>bluerov2</namespace>
+      <joint_name>thruster5_joint</joint_name>
+      <thrust_coefficient>0.02</thrust_coefficient>
+      <fluid_density>1025.0</fluid_density>
+      <propeller_diameter>0.1</propeller_diameter>
+      <velocity_control>true</velocity_control>
+      <use_angvel_cmd>False</use_angvel_cmd>
+    </plugin>
+
+    <plugin
+        filename="gz-sim-thruster-system"
+        name="gz::sim::systems::Thruster">
+      <namespace>bluerov2</namespace>
+      <joint_name>thruster6_joint</joint_name>
+      <!-- Reverse spin to balance torque -->
+      <thrust_coefficient>-0.02</thrust_coefficient>
+      <fluid_density>1025.0</fluid_density>
+      <propeller_diameter>0.1</propeller_diameter>
+      <velocity_control>true</velocity_control>
+      <use_angvel_cmd>False</use_angvel_cmd>
+    </plugin>
+
+    <plugin name="ArduPilotPlugin" filename="libArduPilotPlugin.so">
+      <!-- Port settings -->
+      <fdm_addr>127.0.0.1</fdm_addr>
+      <fdm_port_in>9002</fdm_port_in>
+      <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
+      <lock_step>1</lock_step>
+
+      <!-- Transform from the Gazebo body frame (x-forward, y-left, z-up)
+           to the ArduPilot body frame (x-forward, y-right, z-down) -->
+      <modelXYZToAirplaneXForwardZDown>0 0 0 3.142 0 0</modelXYZToAirplaneXForwardZDown>
+
+      <!-- Transform from the Gazebo world frame (ENU)
+           to the ArduPilot world frame (NED) -->
+      <gazeboXYZToNED>0 0 0 3.142 0 1.571</gazeboXYZToNED>
+
+      <!-- Sensors -->
+      <imuName>imu_sensor</imuName>
+
+      <!-- Thrusters -->
+      <control channel="0">
+        <jointName>thruster1_joint</jointName>
+        <servo_min>1100</servo_min>
+        <servo_max>1900</servo_max>
+        <type>COMMAND</type>
+        <cmd_topic>/model/bluerov2/joint/thruster1_joint/cmd_thrust</cmd_topic>
+        <offset>-0.5</offset>
+        <multiplier>100</multiplier>
+      </control>
+      <control channel="1">
+        <jointName>thruster2_joint</jointName>
+        <servo_min>1100</servo_min>
+        <servo_max>1900</servo_max>
+        <type>COMMAND</type>
+        <cmd_topic>/model/bluerov2/joint/thruster2_joint/cmd_thrust</cmd_topic>
+        <offset>-0.5</offset>
+        <multiplier>100</multiplier>
+      </control>
+      <control channel="2">
+        <jointName>thruster3_joint</jointName>
+        <servo_min>1100</servo_min>
+        <servo_max>1900</servo_max>
+        <type>COMMAND</type>
+        <cmd_topic>/model/bluerov2/joint/thruster3_joint/cmd_thrust</cmd_topic>
+        <offset>-0.5</offset>
+        <multiplier>100</multiplier>
+      </control>
+      <control channel="3">
+        <jointName>thruster4_joint</jointName>
+        <servo_min>1100</servo_min>
+        <servo_max>1900</servo_max>
+        <type>COMMAND</type>
+        <cmd_topic>/model/bluerov2/joint/thruster4_joint/cmd_thrust</cmd_topic>
+        <offset>-0.5</offset>
+        <multiplier>100</multiplier>
+      </control>
+      <control channel="4">
+        <jointName>thruster5_joint</jointName>
+        <servo_min>1100</servo_min>
+        <servo_max>1900</servo_max>
+        <type>COMMAND</type>
+        <cmd_topic>/model/bluerov2/joint/thruster5_joint/cmd_thrust</cmd_topic>
+        <offset>-0.5</offset>
+        <multiplier>100</multiplier>
+      </control>
+      <control channel="5">
+        <jointName>thruster6_joint</jointName>
+        <servo_min>1100</servo_min>
+        <servo_max>1900</servo_max>
+        <type>COMMAND</type>
+        <cmd_topic>/model/bluerov2/joint/thruster6_joint/cmd_thrust</cmd_topic>
+        <offset>-0.5</offset>
+        <multiplier>100</multiplier>
+      </control>
+
+    </plugin>
+
+    <plugin
+      filename="gz-sim-odometry-publisher-system"
+      name="gz::sim::systems::OdometryPublisher">
+      <odom_frame>map</odom_frame>
+      <robot_base_frame>base_link</robot_base_frame>
+      <dimensions>3</dimensions>
+      <odom_publish_frequency>100</odom_publish_frequency>
+    </plugin>
+
+    <plugin
+      filename="gz-sim-joint-state-publisher-system"
+      name="gz::sim::systems::JointStatePublisher">
+    </plugin>
+
+    <plugin
+      filename="gz-sim-imu-system"
+      name="gz::sim::systems::Imu">
+    </plugin>
+
+  </model>
+</sdf>
diff --git a/models/dave_robot_models/description/bluerov2_heavy/model.config b/models/dave_robot_models/description/bluerov2_heavy/model.config
new file mode 100644
index 00000000..b5149da4
--- /dev/null
+++ b/models/dave_robot_models/description/bluerov2_heavy/model.config
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>BlueROV2 Heavy</name>
+  <version>1.0</version>
+  <sdf version="1.7">model.sdf</sdf>
+
+  <author>
+    <name>Evan Palmer</name>
+    <email>evanp922@gmail.com</email>
+  </author>
+
+  <maintainer>Clyde McQueen</maintainer>
+  <maintainer email="rakeshvivek97@gmail.com">Rakesh Vivekanandan</maintainer>
+
+  <description>
+    Blue Robotics BlueROV2 Heavy configuration model
+  </description>
+</model>
diff --git a/models/dave_robot_models/description/bluerov2_heavy/model.sdf b/models/dave_robot_models/description/bluerov2_heavy/model.sdf
new file mode 100644
index 00000000..8ea68edd
--- /dev/null
+++ b/models/dave_robot_models/description/bluerov2_heavy/model.sdf
@@ -0,0 +1,601 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<sdf version="1.7">
+  <model name="bluerov2_heavy">
+    <pose>0 0 0 0 0 0</pose>
+
+    <!-- BlueROV2 thruster reference: http://www.ardusub.com/introduction/features.html -->
+
+    <link name="base_link">
+      <inertial>
+        <pose>0.0 0.0 0.011 0 0 0</pose>
+        <mass>13.0</mass>
+        <inertia>
+          <ixx>0.26</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.23</iyy>
+          <iyz>0</iyz>
+          <izz>0.37</izz>
+        </inertia>
+      </inertial>
+
+      <visual name="base_link_visual">
+        <geometry>
+          <mesh>
+            <uri>model://meshes/bluerov2_heavy/bluerov2_heavy.dae</uri>
+            <scale>0.025 0.025 0.025</scale>
+          </mesh>
+        </geometry>
+      </visual>
+
+      <!-- Collision volume * fluid_density == displaced mass, used by BuoyancyPlugin -->
+      <collision name="base_link_collision">
+        <pose>0.0 0.0 0.06 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.457 0.575 0.05</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <!-- IMU sensor gyro and accel data will be sent to ArduSub -->
+      <sensor name="imu_sensor" type="imu">
+        <!-- Transform from the Gazebo body frame (x-forward, y-left, z-up)
+             to the ArduPilot body frame (x-forward, y-right, z-down) -->
+        <pose>0 0 0 3.142 0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>1000.0</update_rate>
+        <topic>/model/bluerov2_heavy/imu</topic>
+      </sensor>
+
+    </link>
+
+    <link name="camera_link">
+      <inertial>
+        <mass>0.0001</mass>
+        <inertia>
+          <ixx>0.0001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0001</iyy>
+          <iyz>0</iyz>
+          <izz>0.0001</izz>
+        </inertia>
+      </inertial>
+      <sensor name="camera" type="camera">
+        <camera>
+          <horizontal_fov>1.0855</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1080</height>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>500</far>
+          </clip>
+        </camera>
+        <always_on>true</always_on>
+        <update_rate>10</update_rate>
+        <visualize>true</visualize>
+        <topic>/model/bluerov2/camera/image_raw</topic>
+      </sensor>
+    </link>
+
+    <link name="camera_mount_link">
+      <inertial>
+        <mass>0.0001</mass>
+        <inertia>
+          <ixx>0.0001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0001</iyy>
+          <iyz>0</iyz>
+          <izz>0.0001</izz>
+        </inertia>
+      </inertial>
+    </link>
+
+    <joint name="camera_joint" type="fixed">
+      <parent>camera_mount_link</parent>
+      <child>camera_link</child>
+      <pose>0 0 0 0 0 0</pose>
+    </joint>
+
+    <joint name="camera_mount_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>camera_mount_link</child>
+      <pose>0.21 0 0.067 -1.571 0 -1.571</pose>
+    </joint>
+
+    <!-- Hydrodynamics plugin -->
+    <plugin
+        filename="gz-sim-hydrodynamics-system"
+        name="gz::sim::systems::Hydrodynamics">
+      <link_name>base_link</link_name>
+      <water_density>1025.0</water_density>
+      <!-- Added mass: -->
+      <xDotU>0</xDotU>
+      <yDotV>0</yDotV>
+      <zDotW>0</zDotW>
+      <kDotP>0</kDotP>
+      <mDotQ>0</mDotQ>
+      <nDotR>0</nDotR>
+      <!-- First order stability derivative: -->
+      <xU>0</xU>
+      <yV>0</yV>
+      <zW>0</zW>
+      <kP>0</kP>
+      <mQ>0</mQ>
+      <nR>0</nR>
+      <!-- Second order stability derivative: -->
+      <xUabsU>-58.42</xUabsU>
+      <yVabsV>-55.137</yVabsV>
+      <zWabsW>-124.818</zWabsW>
+      <kPabsP>-4.0</kPabsP>
+      <mQabsQ>-4.0</mQabsQ>
+      <nRabsR>-4.0</nRabsR>
+    </plugin>
+
+    <link name="thruster1">
+      <pose>0.14 -0.092 0.0 -1.571 1.571 -0.785</pose>
+      <visual name="thruster_prop_visual">
+        <pose>0 0 0 -1.571 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://meshes/t200/ccw_prop.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <inertial>
+        <mass>0.002</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+    </link>
+
+    <link name="thruster2">
+      <pose>0.14 0.092 0.0 -1.571 1.571 -2.356</pose>
+      <visual name="thruster_prop_visual">
+        <pose>0 0 0 -1.571 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://meshes/t200/ccw_prop.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <inertial>
+        <mass>0.002</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+    </link>
+
+    <link name="thruster3">
+      <pose>-0.15 -0.092 0.0 -1.571 1.571 0.785</pose>
+      <visual name="thruster_prop_visual">
+        <pose>0 0 0 1.571 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://meshes/t200/cw_prop.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <inertial>
+        <mass>0.002</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+    </link>
+
+    <link name="thruster4">
+      <pose>-0.15 0.092 0.0 -1.571 1.571 2.356</pose>
+      <visual name="thruster_prop_visual">
+        <pose>0 0 0 1.571 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://meshes/t200/cw_prop.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <inertial>
+        <mass>0.002</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+    </link>
+
+    <link name="thruster5">
+      <pose>0.118 -0.215 0.064 0 0 0</pose>
+      <visual name="thruster_prop_visual">
+        <pose>0 0 0 -1.571 0 1.571</pose>
+        <geometry>
+          <mesh>
+            <uri>model://meshes/t200/ccw_prop.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <inertial>
+        <mass>0.002</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+    </link>
+
+    <link name="thruster6">
+      <pose>0.118 0.215 0.064 0 0 0</pose>
+      <visual name="thruster_prop_visual">
+        <pose>0 0 0 1.571 0 1.571</pose>
+        <geometry>
+          <mesh>
+            <uri>model://meshes/t200/cw_prop.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <inertial>
+        <mass>0.002</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+    </link>
+
+    <link name="thruster7">
+      <pose>-0.118 -0.215 0.064 0 0 0</pose>
+      <visual name="thruster_prop_visual">
+        <pose>0 0 0 1.571 0 1.571</pose>
+        <geometry>
+          <mesh>
+            <uri>model://meshes/t200/cw_prop.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <inertial>
+        <mass>0.002</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+    </link>
+
+    <link name="thruster8">
+      <pose>-0.118 0.215 0.064 0 0 0</pose>
+      <visual name="thruster_prop_visual">
+        <pose>0 0 0 -1.571 0 1.571</pose>
+        <geometry>
+          <mesh>
+            <uri>model://meshes/t200/ccw_prop.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <inertial>
+        <mass>0.002</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+    </link>
+
+    <joint name="thruster1_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>thruster1</child>
+      <axis>
+        <xyz>0 0 -1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="thruster2_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>thruster2</child>
+      <axis>
+        <xyz>0 0 -1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="thruster3_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>thruster3</child>
+      <axis>
+        <xyz>0 0 -1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="thruster4_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>thruster4</child>
+      <axis>
+        <xyz>0 0 -1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="thruster5_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>thruster5</child>
+      <axis>
+        <xyz>0 0 -1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="thruster6_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>thruster6</child>
+      <axis>
+        <xyz>0 0 -1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="thruster7_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>thruster7</child>
+      <axis>
+        <xyz>0 0 -1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="thruster8_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>thruster8</child>
+      <axis>
+        <xyz>0 0 -1</xyz>
+      </axis>
+    </joint>
+
+    <plugin
+        filename="gz-sim-thruster-system"
+        name="gz::sim::systems::Thruster">
+      <namespace>bluerov2_heavy</namespace>
+      <joint_name>thruster1_joint</joint_name>
+      <thrust_coefficient>0.02</thrust_coefficient>
+      <fluid_density>1025.0</fluid_density>
+      <propeller_diameter>0.1</propeller_diameter>
+      <velocity_control>true</velocity_control>
+      <use_angvel_cmd>False</use_angvel_cmd>
+    </plugin>
+
+    <plugin
+        filename="gz-sim-thruster-system"
+        name="gz::sim::systems::Thruster">
+      <namespace>bluerov2_heavy</namespace>
+      <joint_name>thruster2_joint</joint_name>
+      <thrust_coefficient>0.02</thrust_coefficient>
+      <fluid_density>1025.0</fluid_density>
+      <propeller_diameter>0.1</propeller_diameter>
+      <velocity_control>true</velocity_control>
+      <use_angvel_cmd>False</use_angvel_cmd>
+    </plugin>
+
+    <plugin
+        filename="gz-sim-thruster-system"
+        name="gz::sim::systems::Thruster">
+      <namespace>bluerov2_heavy</namespace>
+      <joint_name>thruster3_joint</joint_name>
+      <!-- Reverse spin to balance torque -->
+      <thrust_coefficient>-0.02</thrust_coefficient>
+      <fluid_density>1025.0</fluid_density>
+      <propeller_diameter>0.1</propeller_diameter>
+      <velocity_control>true</velocity_control>
+      <use_angvel_cmd>False</use_angvel_cmd>
+    </plugin>
+
+    <plugin
+        filename="gz-sim-thruster-system"
+        name="gz::sim::systems::Thruster">
+      <namespace>bluerov2_heavy</namespace>
+      <joint_name>thruster4_joint</joint_name>
+      <!-- Reverse spin to balance torque -->
+      <thrust_coefficient>-0.02</thrust_coefficient>
+      <fluid_density>1025.0</fluid_density>
+      <propeller_diameter>0.1</propeller_diameter>
+      <velocity_control>true</velocity_control>
+      <use_angvel_cmd>False</use_angvel_cmd>
+    </plugin>
+
+    <plugin
+        filename="gz-sim-thruster-system"
+        name="gz::sim::systems::Thruster">
+      <namespace>bluerov2_heavy</namespace>
+      <joint_name>thruster5_joint</joint_name>
+      <thrust_coefficient>0.02</thrust_coefficient>
+      <fluid_density>1025.0</fluid_density>
+      <propeller_diameter>0.1</propeller_diameter>
+      <velocity_control>true</velocity_control>
+      <use_angvel_cmd>False</use_angvel_cmd>
+    </plugin>
+
+    <plugin
+        filename="gz-sim-thruster-system"
+        name="gz::sim::systems::Thruster">
+      <namespace>bluerov2_heavy</namespace>
+      <joint_name>thruster6_joint</joint_name>
+      <!-- Reverse spin to balance torque -->
+      <thrust_coefficient>-0.02</thrust_coefficient>
+      <fluid_density>1025.0</fluid_density>
+      <propeller_diameter>0.1</propeller_diameter>
+      <velocity_control>true</velocity_control>
+      <use_angvel_cmd>False</use_angvel_cmd>
+    </plugin>
+
+    <plugin
+        filename="gz-sim-thruster-system"
+        name="gz::sim::systems::Thruster">
+      <namespace>bluerov2_heavy</namespace>
+      <joint_name>thruster7_joint</joint_name>
+      <!-- Reverse spin to balance torque -->
+      <thrust_coefficient>-0.02</thrust_coefficient>
+      <fluid_density>1025.0</fluid_density>
+      <propeller_diameter>0.1</propeller_diameter>
+      <velocity_control>true</velocity_control>
+      <use_angvel_cmd>False</use_angvel_cmd>
+    </plugin>
+
+    <plugin
+        filename="gz-sim-thruster-system"
+        name="gz::sim::systems::Thruster">
+      <namespace>bluerov2_heavy</namespace>
+      <joint_name>thruster8_joint</joint_name>
+      <thrust_coefficient>0.02</thrust_coefficient>
+      <fluid_density>1025.0</fluid_density>
+      <propeller_diameter>0.1</propeller_diameter>
+      <velocity_control>true</velocity_control>
+      <use_angvel_cmd>False</use_angvel_cmd>
+    </plugin>
+
+    <plugin name="ArduPilotPlugin" filename="libArduPilotPlugin.so">
+      <!-- Port settings -->
+      <fdm_addr>127.0.0.1</fdm_addr>
+      <fdm_port_in>9002</fdm_port_in>
+      <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
+      <lock_step>1</lock_step>
+
+      <!-- Transform from the Gazebo body frame (x-forward, y-left, z-up)
+           to the ArduPilot body frame (x-forward, y-right, z-down) -->
+      <modelXYZToAirplaneXForwardZDown>0 0 0 3.142 0 0</modelXYZToAirplaneXForwardZDown>
+
+      <!-- Transform from the Gazebo world frame (ENU)
+           to the ArduPilot world frame (NED) -->
+      <gazeboXYZToNED>0 0 0 3.142 0 1.571</gazeboXYZToNED>
+
+      <!-- Sensors -->
+      <imuName>imu_sensor</imuName>
+
+      <!-- Thrusters -->
+      <control channel="0">
+        <jointName>thruster1_joint</jointName>
+        <servo_min>1100</servo_min>
+        <servo_max>1900</servo_max>
+        <type>COMMAND</type>
+        <cmd_topic>/model/bluerov2_heavy/joint/thruster1_joint/cmd_thrust</cmd_topic>
+        <offset>-0.5</offset>
+        <multiplier>100</multiplier>
+      </control>
+      <control channel="1">
+        <jointName>thruster2_joint</jointName>
+        <servo_min>1100</servo_min>
+        <servo_max>1900</servo_max>
+        <type>COMMAND</type>
+        <cmd_topic>/model/bluerov2_heavy/joint/thruster2_joint/cmd_thrust</cmd_topic>
+        <offset>-0.5</offset>
+        <multiplier>100</multiplier>
+      </control>
+      <control channel="2">
+        <jointName>thruster3_joint</jointName>
+        <servo_min>1100</servo_min>
+        <servo_max>1900</servo_max>
+        <type>COMMAND</type>
+        <cmd_topic>/model/bluerov2_heavy/joint/thruster3_joint/cmd_thrust</cmd_topic>
+        <offset>-0.5</offset>
+        <multiplier>100</multiplier>
+      </control>
+      <control channel="3">
+        <jointName>thruster4_joint</jointName>
+        <servo_min>1100</servo_min>
+        <servo_max>1900</servo_max>
+        <type>COMMAND</type>
+        <cmd_topic>/model/bluerov2_heavy/joint/thruster4_joint/cmd_thrust</cmd_topic>
+        <offset>-0.5</offset>
+        <multiplier>100</multiplier>
+      </control>
+      <control channel="4">
+        <jointName>thruster5_joint</jointName>
+        <servo_min>1100</servo_min>
+        <servo_max>1900</servo_max>
+        <type>COMMAND</type>
+        <cmd_topic>/model/bluerov2_heavy/joint/thruster5_joint/cmd_thrust</cmd_topic>
+        <offset>-0.5</offset>
+        <multiplier>100</multiplier>
+      </control>
+      <control channel="5">
+        <jointName>thruster6_joint</jointName>
+        <servo_min>1100</servo_min>
+        <servo_max>1900</servo_max>
+        <type>COMMAND</type>
+        <cmd_topic>/model/bluerov2_heavy/joint/thruster6_joint/cmd_thrust</cmd_topic>
+        <offset>-0.5</offset>
+        <multiplier>100</multiplier>
+      </control>
+      <control channel="6">
+        <jointName>thruster7_joint</jointName>
+        <servo_min>1100</servo_min>
+        <servo_max>1900</servo_max>
+        <type>COMMAND</type>
+        <cmd_topic>/model/bluerov2_heavy/joint/thruster7_joint/cmd_thrust</cmd_topic>
+        <offset>-0.5</offset>
+        <multiplier>100</multiplier>
+      </control>
+      <control channel="7">
+        <jointName>thruster8_joint</jointName>
+        <servo_min>1100</servo_min>
+        <servo_max>1900</servo_max>
+        <type>COMMAND</type>
+        <cmd_topic>/model/bluerov2_heavy/joint/thruster8_joint/cmd_thrust</cmd_topic>
+        <offset>-0.5</offset>
+        <multiplier>100</multiplier>
+      </control>
+
+    </plugin>
+
+    <plugin
+      filename="gz-sim-odometry-publisher-system"
+      name="gz::sim::systems::OdometryPublisher">
+      <odom_frame>map</odom_frame>
+      <robot_base_frame>base_link</robot_base_frame>
+      <dimensions>3</dimensions>
+      <odom_publish_frequency>100</odom_publish_frequency>
+    </plugin>
+
+    <plugin
+      filename="gz-sim-joint-state-publisher-system"
+      name="gz::sim::systems::JointStatePublisher">
+    </plugin>
+
+    <plugin
+      filename="gz-sim-imu-system"
+      name="gz::sim::systems::Imu">
+    </plugin>
+
+  </model>
+</sdf>
diff --git a/models/dave_robot_models/meshes/bluerov2/bluerov2.dae b/models/dave_robot_models/meshes/bluerov2/bluerov2.dae
new file mode 100644
index 00000000..288f579b
--- /dev/null
+++ b/models/dave_robot_models/meshes/bluerov2/bluerov2.dae
@@ -0,0 +1,719 @@
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+    </contributor>
+    <created>2023-05-22T23:55:13</created>
+    <modified>2023-05-22T23:55:13</modified>
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+    <up_axis>Z_UP</up_axis>
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31963 11828 56114 31963 11828 56115 31951 11827 56116 31945 11829 56117 31963 11828 56118 31945 11829 56119 31964 11830 56120 31964 11830 56121 31945 11829 56122 31944 11831 56123 31964 11830 56124 31944 11831 56125 31965 11832 56126 31965 11832 56127 31944 11831 56128 31953 11833 56129 31965 11832 56130 31953 11833 56131 31966 11822 56132 31966 11822 56133 31953 11833 56134 31952 11823 56135 31954 11834 56136 31896 11815 56137 31955 11817 56138 31955 11817 56139 31896 11815 56140 31946 11835 56141 31960 11836 56142 31947 11813 56143 31954 11834 56144 31959 11837 56145 31949 11814 56146 31960 11836 56147 31960 11836 56148 31949 11814 56149 31947 11813 56150 31957 11838 56151 31949 11814 56152 31959 11837 56153 31957 11838 56154 31946 11835 56155 31898 11839 56156 31955 11817 56157 31946 11835 56158 31957 11838 56159 31957 11838 56160 31898 11839 56161 31949 11814 56162 31954 11834 56163 31947 11813 56164 31896 11815 56165 31899 11840 56166 31898 11839 56167 31903 11841 56168 31901 11842 56169 31897 11843 56170 31896 11815 56171 31901 11842 56172 31900 11844 56173 31906 11845 56174 31900 11844 56175 31905 11846 56176 31906 11845 56177 31909 11847 56178 31968 11848 56179 31904 11849 56180 31904 11849 56181 31968 11848 56182 31905 11846 56183 31967 11850 56184 31913 11851 56185 31907 11852 56186 31969 11853 56187 31970 11854 56188 31913 11851 56189 31929 11855 56190 31933 11856 56191 31934 11857 56192 31973 11858 56193 31933 11856 56194 31928 11859 56195 31931 11860 56196 31936 11861 56197 31937 11862 56198 31933 11856 56199 31974 11863 56200 31934 11857 56201 31934 11857 56202 31974 11863 56203 31975 11864 56204 31932 11865 56205 31974 11863 56206 31933 11856 56207 31936 11861 56208 31935 11866 56209 31976 11867 56210 31976 11867 56211 31938 11868 56212 31937 11862 56213 31952 11823 56214 31953 11833 56215 31943 11869 56216 31943 11869 56217 31953 11833 56218 31944 11831 56219 31950 11825 56220 31943 11869 56221 31942 11870 56222 31937 11862 56223 31936 11861 56224 31976 11867 56225 31937 11862 56226 31932 11865 56227 31931 11860 56228 31936 11861 56229 31931 11860 56230 31930 11871 56231 31933 11856 56232 31929 11855 56233 31928 11859 56234 31928 11859 56235 31923 11872 56236 31922 11873 56237 31969 11853 56238 31913 11851 56239 31912 11874 56240 31910 11875 56241 31909 11847 56242 31914 11876 56243 31902 11877 56244 31901 11842 56245 31906 11845 56246 31904 11849 56247 31900 11844 56248 31899 11840 56249 31904 11849 56250 31899 11840 56251 31903 11841 56252 31948 11812 56253 31949 11814 56254 31900 11844 56255 31898 11839 56256 31899 11840 56257 31949 11814 56258 31896 11815 56259 31948 11812 56260 31901 11842 56261 31897 11843 56262 31903 11841 56263 31898 11839 56264 31904 11849 56265 31905 11846 56266 31900 11844 56267 31902 11877 56268 31908 11878 56269 31903 11841 56270 31908 11878 56271 31909 11847 56272 31903 11841 56273 31904 11849 56274 31903 11841 56275 31909 11847 56276 31968 11848 56277 31967 11850 56278 31905 11846 56279 31905 11846 56280 31967 11850 56281 31906 11845 56282 31907 11852 56283 31906 11845 56284 31967 11850 56285 31907 11852 56286 31913 11851 56287 31908 11878 56288 31913 11851 56289 31914 11876 56290 31908 11878 56291 31908 11878 56292 31914 11876 56293 31909 11847 56294 31913 11851 56295 31970 11854 56296 31914 11876 56297 31970 11854 56298 31915 11879 56299 31914 11876 56300 31915 11879 56301 31972 11880 56302 31916 11881 56303 31972 11880 56304 31971 11882 56305 31916 11881 56306 31917 11883 56307 31916 11881 56308 31971 11882 56309 31927 11884 56310 31973 11858 56311 31928 11859 56312 31929 11855 56313 31934 11857 56314 31930 11871 56315 31934 11857 56316 31975 11864 56317 31935 11866 56318 31939 11885 56319 31938 11868 56320 31943 11869 56321 31943 11869 56322 31950 11825 56323 31952 11823 56324 31946 11835 56325 31896 11815 56326 31897 11843 56327 31941 11886 56328 31951 11827 56329 31942 11870 56330 31942 11870 56331 31951 11827 56332 31950 11825 56333 31951 11827 56334 31941 11886 56335 31945 11829 56336 31941 11886 56337 31940 11887 56338 31945 11829 56339 31945 11829 56340 31940 11887 56341 31944 11831 56342 31940 11887 56343 31939 11885 56344 31944 11831 56345 31944 11831 56346 31939 11885 56347 31943 11869 56348 31943 11869 56349 31938 11868 56350 31942 11870 56351 31942 11870 56352 31938 11868 56353 31941 11886 56354 31938 11868 56355 31976 11867 56356 31941 11886 56357 31941 11886 56358 31976 11867 56359 31940 11887 56360 31976 11867 56361 31935 11866 56362 31940 11887 56363 31935 11866 56364 31975 11864 56365 31940 11887 56366 31940 11887 56367 31975 11864 56368 31939 11885 56369 31975 11864 56370 31974 11863 56371 31939 11885 56372 31939 11885 56373 31974 11863 56374 31938 11868 56375 31974 11863 56376 31932 11865 56377 31938 11868 56378 31938 11868 56379 31932 11865 56380 31937 11862 56381 31936 11861 56382 31930 11871 56383 31935 11866 56384 31935 11866 56385 31930 11871 56386 31934 11857 56387 31933 11856 56388 31973 11858 56389 31932 11865 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11874 56501 31912 11874 56502 31967 11850 56503 31911 11895 56504 31911 11895 56505 31967 11850 56506 31910 11875 56507 31967 11850 56508 31968 11848 56509 31910 11875 56510 31910 11875 56511 31968 11848 56512 31909 11847 56513 31908 11878 56514 31902 11877 56515 31907 11852 56516 31907 11852 56517 31902 11877 56518 31906 11845 56519 31903 11841 56520 31897 11843 56521 31902 11877 56522 31902 11877 56523 31897 11843 56524 31901 11842 56525 31901 11842 56526 31948 11812 56527 31900 11844 56528 31900 11844 56529 31949 11814 56530 31899 11840 56531 31898 11839 56532 31946 11835 56533 31897 11843 56534 31966 11822 56535 31961 11824 56536 31980 11896 56537 31980 11896 56538 31961 11824 56539 31991 11897 56540 31991 11897 56541 31961 11824 56542 31962 11898 56543 31992 11899 56544 31964 11830 56545 31965 11832 56546 31964 11830 56547 31992 11899 56548 31978 11900 56549 31963 11828 56550 31993 11901 56551 31962 11826 56552 31991 11897 56553 31962 11898 56554 31979 11902 56555 31992 11899 56556 31965 11832 56557 31977 11903 56558 31994 11904 56559 31981 11905 56560 31980 11896 56561 31995 11906 56562 31979 11902 56563 31993 11901 56564 31977 11903 56565 31983 11907 56566 31978 11900 56567 31978 11900 56568 31983 11907 56569 31993 11901 56570 31993 11901 56571 31996 11908 56572 31995 11906 56573 31995 11906 56574 31997 11909 56575 31979 11902 56576 31980 11896 56577 31984 11910 56578 31994 11904 56579 31994 11904 56580 31985 11911 56581 31981 11905 56582 31981 11905 56583 31982 11912 56584 31977 11903 56585 31982 11912 56586 31986 11913 56587 31983 11907 56588 31983 11907 56589 31987 11914 56590 31998 11915 56591 31998 11915 56592 31999 11916 56593 31996 11908 56594 31997 11909 56595 31996 11917 56596 31988 11918 56597 32000 11919 56598 31990 11920 56599 31989 11921 56600 32001 11922 56601 31999 11916 56602 31987 11914 56603 31986 11913 56604 31954 11834 56605 31987 11914 56606 31987 11914 56607 31955 11817 56608 32001 11922 56609 32001 11922 56610 31956 11816 56611 31999 11916 56612 31999 11916 56613 31958 11820 56614 31988 11918 56615 31989 11921 56616 31959 11821 56617 32000 11919 56618 32000 11919 56619 31960 11836 56620 31990 11920 56621 31954 11834 56622 31986 11913 56623 31960 11836 56624 31960 11836 56625 31986 11913 56626 31990 11920 56627 31986 11913 56628 31982 11912 56629 31990 11920 56630 31982 11912 56631 31981 11905 56632 31985 11911 56633 31977 11903 56634 31965 11832 56635 31981 11905 56636 31965 11832 56637 31966 11822 56638 31981 11905 56639 31959 11837 56640 31960 11836 56641 32000 11919 56642 31989 11921 56643 31990 11920 56644 31984 11910 56645 31984 11910 56646 31985 11911 56647 31994 11904 56648 31980 11896 56649 31981 11905 56650 31966 11822 56651 31959 11821 56652 31989 11921 56653 31988 11918 56654 31959 11821 56655 31988 11918 56656 31958 11820 56657 31989 11921 56658 31984 11910 56659 31997 11909 56660 31989 11921 56661 31997 11909 56662 31988 11918 56663 31984 11910 56664 31980 11896 56665 31979 11902 56666 31984 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32060 11940 56778 32052 11941 56779 32061 11945 56780 32062 11944 56781 32004 11946 56782 32005 11925 56783 32059 11939 56784 32053 11924 56785 32002 11926 56786 32005 11925 56787 32004 11946 56788 32009 11947 56789 32007 11948 56790 32003 11949 56791 32002 11926 56792 32007 11948 56793 32006 11950 56794 32012 11951 56795 32006 11950 56796 32011 11952 56797 32012 11951 56798 32070 11953 56799 32011 11952 56800 32010 11954 56801 32015 11955 56802 32014 11956 56803 32019 11957 56804 32071 11958 56805 32017 11959 56806 32013 11960 56807 32017 11959 56808 32016 11961 56809 32022 11962 56810 32024 11963 56811 32020 11964 56812 32019 11957 56813 32020 11964 56814 32026 11965 56815 32021 11966 56816 32024 11963 56817 32029 11967 56818 32025 11968 56819 32026 11965 56820 32073 11969 56821 32027 11970 56822 32035 11971 56823 32039 11972 56824 32040 11973 56825 32075 11974 56826 32039 11972 56827 32034 11975 56828 32037 11976 56829 32042 11977 56830 32043 11978 56831 32039 11972 56832 32076 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diff --git a/models/dave_robot_models/meshes/bluerov2_heavy/bluerov2_heavy.dae b/models/dave_robot_models/meshes/bluerov2_heavy/bluerov2_heavy.dae
new file mode 100644
index 00000000..01010073
--- /dev/null
+++ b/models/dave_robot_models/meshes/bluerov2_heavy/bluerov2_heavy.dae
@@ -0,0 +1,1476 @@
+<?xml version="1.0" encoding="utf-8"?>
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+    </contributor>
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+    <modified>2023-05-25T18:26:41</modified>
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33.20003 0.1125 27.30262 0.1125 27.52538 0 27.47608 0 7.064511 -0.112006 7.318644 -0.112006 6.971554 0.1125 18.66865 0.1125 19.14585 0 18.85202 -3.94e-4 16.5759 -0.1120455 16.80206 -0.1121181 16.51747 0.1125 42.88557 0.1123175 43.18413 0 42.89841 0 11.02995 0 10.80428 0.1125 11.02661 0 15.227 0 14.77279 0.1125 15.05417 0.1125 32.51549 0.1125 32.74563 0 32.57934 0.1125 27.52538 0.1125 27.75419 0 27.47608 0.1125 30.7009 0.1125 30.9318 0 30.88146 0.1024817 -1.196168 0.109525 -1.343552 0.159099 -1.143286 0.1125 23.89499 0.1125 24.12502 0 23.84572 0.1125 40.22612 0.1125 40.45763 0 40.29128 0.1125 8.018342 0.1125 8.249469 0 7.968703 0.1125 29.33997 0.1125 29.57085 0 29.52053 -0.07071095 -0.863938 0 -0.7496197 -0.07071095 -0.6436662 0 9.559421 0 9.104698 0.1125 9.381196 0 15.68009 0 15.227 0.1125 15.50574 0 16.9321 0 16.58798 0.1125 16.86876 0 15.68068 0 15.22691 0.1125 15.50574 0 27.92854 0 27.47545 0.1125 27.75419 0 15.04223 0 14.80172 0.1125 15.0902 0 16.30039 0 16.67633 -0.112006 16.39553 0 11.22879 0 10.99038 0.1125 11.04615 -3.94e-4 8.353251 -0.1120642 8.68104 -0.1120455 8.322006 0 25.20726 0 24.7542 0.1125 25.03231 -0.112006 11.87108 -0.112006 11.52013 0 11.68863 0 14.08932 0 13.84884 0.1125 13.90226 0 14.77327 0 14.32034 0.1125 14.59845 0.1125 42.01557 0.1125 42.37092 0 42.198 0.1125 32.01011 0.1125 32.48576 0 32.1925 0.1125 12.10116 0.1125 12.3323 0 12.05151 -0.1293337 0.7603622 -0.02805876 0.5999841 -0.01006084 1.061447 0 16.94622 0 16.70781 0.1125 16.88014 0 24.093 0 23.8546 0.1125 23.91037 0 42.198 0 41.9598 0.1125 42.01557 0 30.28845 0 30.04822 0.1125 30.10165 0 44.5824 0 44.28577 0.1125 44.39572 0 18.79537 0 18.43645 0.1125 18.66728 0 45.05691 0 44.81851 0.1125 45.10716 0.1125 34.32873 0.1125 34.56096 0 34.51133 0 43.62756 0 43.33301 0.1125 43.56153 0 18.37537 0 18.13717 0.1125 18.19298 0.1125 48.18686 0.1109505 48.40643 0.03219997 48.22988 0 16.82551 0 17.18647 -0.112006 16.87722 0.09409946 0.5122582 0 0.427248 0.02527451 0.3197229 0 7.291745 0.1125 6.943794 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0.1125 37.28076 0 37.00146 0.1125 9.38019 0.1125 9.610415 0 9.441614 0 21.57749 0 21.12441 0.1125 21.40448 0.1125 27.97878 0.1125 28.20992 0 27.92914 0.1125 13.0087 0.1125 13.23958 0 13.18926 0.1125 8.017233 0.1125 8.249474 0 8.199844 0 37.45512 0 37.00146 0.1125 37.28076 0.1125 27.07019 0.1125 27.30263 0 27.02125 0.1125 25.2569 0.1125 25.4873 0 25.20726 -0.7089588 -0.01242542 -0.06395 -0.04999995 -0.1 0 -3.94e-4 10.92947 -0.1120455 11.14869 -0.1121181 10.8641 -0.141421 -3.204425 -0.1294016 -3.29874 -0.1087763 -3.121952 0.1125 42.87164 0.1125 43.18328 0 42.89901 0 31.71807 0 31.47758 0.1125 31.531 0 27.90645 0 27.66596 0.1125 27.83779 -3.94e-4 9.788834 -0.1118789 10.00349 -0.1121 9.799638 0.1125 42.04071 0.1125 42.2722 0 42.10586 0.1125 15.27558 0.1125 15.50574 0 15.227 0 8.848448 0 8.607872 0.1125 8.779684 -3.94e-4 7.30769 -0.1120451 7.615083 -0.1121168 7.330433 0 28.85935 0 28.61886 0.1125 28.90733 0 9.324796 0 9.084301 0.1125 9.13774 0 36.95904 0 36.71856 0.1125 37.00612 0.1125 38.86518 0.1125 39.15327 0 38.81589 0 16.46956 0 16.23137 0.1125 16.51976 0 27.90477 0 27.66624 0.1125 27.70453 0 36.95723 0 36.71882 0.1125 37.0074 0 19.80494 0 19.56653 0.1125 19.85511 0 13.61287 0 13.37239 0.1125 13.42581 0 25.04591 0 24.8075 0.1125 25.09608 0 37.4356 0 37.19503 0.1125 37.48258 0 26.95172 0 26.71331 0.1125 27.00279 0 31.24136 0 31.00114 0.1125 31.05456 0 42.6748 0 42.43627 0.1125 42.72483 -0.1120688 4.442974 -0.1120933 4.086456 -3.94e-4 4.215567 0 39.81609 0 39.57756 0.1125 39.86611 0 34.09851 0 33.86011 0.1125 33.91588 -0.01476192 -0.1630721 -0.141421 -0.2136267 -0.12931 -0.3077552 0.141421 0.3957767 0.0175693 0.5925142 0.02457964 0.4529926 0 17.33897 0 17.65186 -0.112006 17.62241 0 28.38264 0 28.14242 0.1125 28.44721 0.1125 18.4511 0.1125 18.6826 0 18.51626 0 18.14951 0 18.37047 -0.112006 18.15463 -0.1120381 4.430092 -0.1120979 4.088013 -3.94e-4 4.216662 0.1125 17.94314 0.1125 18.2297 0 18.17936 0.1125 18.19298 0.1125 18.66865 0 18.37537 0.1125 28.88498 0.1125 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4035 2434 2792 4036 2435 2793 4037 3580 2217 4038 3537 2231 4039 3538 2230 4040 26742 2794 4041 26723 2795 4042 26743 1957 4043 3772 2760 4044 3733 2660 4045 3734 2796 4046 3945 2797 4047 3894 2421 4048 3893 1715 4049 41780 2798 4050 41729 2799 4051 41728 2800 4052 28365 2515 4053 28325 2764 4054 28264 2801 4055 41592 2210 4056 41539 2802 4057 41538 2803 4058 170 2804 4059 130 1151 4060 131 2805 4061 2836 2806 4062 2850 2807 4063 2835 2808 4064 41804 2148 4065 41753 2585 4066 41752 2584 4067 40230 741 4068 40229 2499 4069 40497 742 4070 38364 2809 4071 38323 2810 4072 38324 2300 4073 2150 2811 4074 2003 2277 4075 2004 1927 4076 2094 2812 4077 2034 2019 4078 2035 2813 4079 28331 2814 4080 28293 2815 4081 28294 2308 4082 2073 2816 4083 2047 2817 4084 2048 1908 4085 340 2818 4086 299 2819 4087 300 2717 4088 41235 2549 4089 41135 2820 4090 41197 2821 4091 174 2822 4092 135 2199 4093 136 1795 4094 39228 1428 4095 39242 1426 4096 39229 1425 4097 41771 2823 4098 41719 2170 4099 41718 2824 4100 2087 2825 4101 2038 2027 4102 2039 1979 4103 2534 2826 4104 2476 2827 4105 2477 2015 4106 2446 2438 4107 2577 2828 4108 2576 2829 4109 2083 2830 4110 2041 2176 4111 2042 1999 4112 2088 2831 4113 2032 2832 4114 2031 2833 4115 3602 1791 4116 3554 2431 4117 3553 2320 4118 150 2834 4119 99 1659 4120 98 1658 4121 2573 2835 4122 2454 1914 4123 2455 2012 4124 2536 2836 4125 2475 1968 4126 2476 2827 4127 2180 2837 4128 1979 2838 4129 1978 2839 4130 27986 2840 4131 27936 2841 4132 27935 2842 4133 28358 2762 4134 28316 2516 4135 28315 2557 4136 42161 2535 4137 42112 1776 4138 42111 1775 4139 28366 2843 4140 28287 2844 4141 28286 2683 4142 2214 2845 4143 1965 2846 4144 1966 1939 4145 2521 2847 4146 2483 2448 4147 2484 2848 4148 27750 2065 4149 27791 2849 4150 27790 2850 4151 41785 2851 4152 41733 2852 4153 41732 2853 4154 2240 2854 4155 2356 2855 4156 2357 2856 4157 28347 2857 4158 28304 2528 4159 28303 2858 4160 1998 2859 4161 2150 2811 4162 2149 2860 4163 300 2717 4164 341 2716 4165 340 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4230 42129 1985 4231 42128 2201 4232 2441 1937 4233 2584 2898 4234 2583 2899 4235 186 2900 4236 139 2029 4237 138 2889 4238 27889 2901 4239 27908 2902 4240 27909 2772 4241 371 2903 4242 322 2010 4243 321 2904 4244 2128 1900 4245 2015 2905 4246 2016 2906 4247 38332 2907 4248 38281 2908 4249 38257 2909 4250 28360 2910 4251 28319 2911 4252 28318 2023 4253 2580 2197 4254 2444 2912 4255 2443 2195 4256 2729 2913 4257 2841 2914 4258 3006 2915 4259 42174 2916 4260 42126 2674 4261 42125 2396 4262 28318 2023 4263 28352 2917 4264 28317 2024 4265 2466 1918 4266 2540 2918 4267 2539 1916 4268 2204 2919 4269 1965 2846 4270 1964 2116 4271 41416 2273 4272 41373 2272 4273 41374 2920 4274 39478 2921 4275 39448 2922 4276 39479 2923 4277 3953 2924 4278 3902 2545 4279 3901 2925 4280 2537 2926 4281 2468 1834 4282 2467 1917 4283 28343 2927 4284 28299 2928 4285 28298 2597 4286 41800 2929 4287 41748 2930 4288 41747 2257 4289 2411 1921 4290 2643 1920 4291 2644 2000 4292 353 1819 4293 304 1823 4294 303 2532 4295 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4427 41348 2965 4428 41387 3003 4429 41386 3004 4430 368 2732 4431 327 2731 4432 266 3005 4433 3751 1798 4434 3789 1799 4435 3788 1796 4436 41561 3006 4437 41605 3007 4438 41604 3008 4439 27219 3009 4440 27144 3010 4441 27220 2490 4442 2500 3011 4443 2391 3012 4444 2390 2283 4445 28159 2500 4446 28109 2883 4447 28108 2580 4448 168 3013 4449 119 3014 4450 118 2691 4451 2058 3015 4452 2051 3016 4453 2050 3017 4454 307 2605 4455 348 3018 4456 347 2603 4457 41792 3019 4458 41740 2775 4459 41739 3020 4460 2111 651 4461 2019 3021 4462 2018 2949 4463 42183 3022 4464 42135 1865 4465 42134 1867 4466 291 2706 4467 332 3023 4468 374 3024 4469 2591 3025 4470 2437 3026 4471 2436 2932 4472 38549 3027 4473 38532 3028 4474 38550 2867 4475 42180 1840 4476 42132 2978 4477 42131 3029 4478 3359 3030 4479 3196 1032 4480 3360 3031 4481 27785 3032 4482 27737 2357 4483 27736 3033 4484 39680 344 4485 39678 342 4486 39671 321 4487 166 3034 4488 117 2692 4489 116 2744 4490 41605 3007 4491 41553 3035 4492 41552 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4557 2407 3066 4558 2406 1906 4559 38335 3067 4560 38284 2595 4561 38283 2694 4562 2215 3068 4563 1957 9 4564 1921 7 4565 41232 3069 4566 41187 3070 4567 41186 3071 4568 2434 2792 4569 2595 1936 4570 2594 3072 4571 2159 3073 4572 1998 2859 4573 1999 3074 4574 157 1750 4575 107 1751 4576 106 2330 4577 41787 3075 4578 41736 2227 4579 41735 2614 4580 27387 153 4581 27394 155 4582 27372 137 4583 3770 3076 4584 3721 2385 4585 3720 2110 4586 27989 3077 4587 27940 3078 4588 27939 3079 4589 41222 3080 4590 41177 2592 4591 41176 3081 4592 3788 1796 4593 3741 1944 4594 3740 2547 4595 3775 3013 4596 3727 3014 4597 3726 3082 4598 3914 2961 4599 3957 3083 4600 3956 2960 4601 28350 3084 4602 28307 3085 4603 28306 3086 4604 2627 3087 4605 2421 2511 4606 2422 2094 4607 2624 3088 4608 2423 2095 4609 2424 3089 4610 2533 2014 4611 2471 2388 4612 2470 2984 4613 2431 3090 4614 2599 3091 4615 2598 3092 4616 2512 2570 4617 2489 2462 4618 2490 2553 4619 2155 3093 4620 2000 3094 4621 2001 3049 4622 39341 1011 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3282 5010 41194 3283 5011 41193 3284 5012 1876 3285 5013 1887 552 5014 1888 3286 5015 28447 349 5016 28446 532 5017 28709 350 5018 41315 2989 5019 41340 3287 5020 41341 2351 5021 28442 902 5022 28719 839 5023 28441 3288 5024 28331 2814 5025 28284 818 5026 28283 1682 5027 27804 2577 5028 27754 3289 5029 27753 3201 5030 41778 3290 5031 41727 3043 5032 41726 3291 5033 2528 3292 5034 2474 3184 5035 2473 1996 5036 41775 3293 5037 41723 2646 5038 41722 3294 5039 373 3295 5040 324 3296 5041 323 2009 5042 41229 3297 5043 41184 3246 5044 41183 2524 5045 2584 2898 5046 2447 2636 5047 2448 2896 5048 2003 2277 5049 2140 2386 5050 2139 3298 5051 2509 2045 5052 2492 2092 5053 2493 2987 5054 41217 3299 5055 41171 3300 5056 41170 2652 5057 41020 1871 5058 41007 464 5059 41006 467 5060 40393 3301 5061 40243 1204 5062 40242 3302 5063 2581 2196 5064 2449 2434 5065 2450 3268 5066 2034 2019 5067 2085 1978 5068 2084 3303 5069 370 3304 5070 321 2904 5071 320 2137 5072 2090 3305 5073 2031 2833 5074 2030 3306 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20991 2476 2827 20992 2523 2447 20993 41880 6822 20994 41885 8829 20995 41884 8830 20996 41780 2798 20997 41779 2228 20998 41737 2108 20999 27221 2492 21000 27145 2491 21001 27146 8831 21002 25969 8832 21003 26060 5721 21004 26059 8475 21005 26571 1147 21006 26572 1149 21007 26570 810 21008 27467 3812 21009 27465 8833 21010 27466 8834 21011 27226 8062 21012 27305 1290 21013 27306 1292 21014 29321 6317 21015 29320 7385 21016 29331 4780 21017 2565 8835 21018 2564 2327 21019 2452 2328 21020 2006 2221 21021 2005 2317 21022 2134 2285 21023 2194 2005 21024 2193 8836 21025 1971 2006 21026 38130 1025 21027 38133 1380 21028 38134 185 21029 2198 2469 21030 2199 8837 21031 1974 1892 21032 2137 1929 21033 2136 2891 21034 2004 1927 21035 2167 8838 21036 2166 2728 21037 1986 2669 21038 2415 1994 21039 2416 1993 21040 2638 3397 21041 27745 2040 21042 27746 2039 21043 27786 2355 21044 2508 2046 21045 2507 2986 21046 2486 1890 21047 2406 1906 21048 2407 3066 21049 2650 8839 21050 2176 4388 21051 2177 3063 21052 1987 1934 21053 2636 1964 21054 2637 8840 21055 2416 1993 21056 28565 8144 21057 28705 8021 21058 28706 8143 21059 2135 4092 21060 2134 2285 21061 2005 2317 21062 2113 2948 21063 2112 8841 21064 2018 2949 21065 2488 2461 21066 2487 1889 21067 2505 2934 21068 2560 8842 21069 2559 8843 21070 2456 2013 21071 2154 3109 21072 2155 3093 21073 2001 3049 21074 2470 2984 21075 2469 1835 21076 2534 2826 21077 2041 2176 21078 2071 8042 21079 2042 1999 21080 2158 1911 21081 2159 3073 21082 1999 3074 21083 2028 3241 21084 2027 2522 21085 2094 2812 21086 2120 8844 21087 2119 5077 21088 2014 3099 21089 28178 8845 21090 28135 3108 21091 28136 3107 21092 2431 3090 21093 2432 3134 21094 2609 8846 21095 41339 4785 21096 41385 8789 21097 41386 3004 21098 2393 4942 21099 2386 8847 21100 2494 2935 21101 2415 1994 21102 2414 2995 21103 2627 3087 21104 2425 2671 21105 2424 3089 21106 2610 8848 21107 2097 2503 21108 2096 2017 21109 2026 2504 21110 2119 5077 21111 2118 8048 21112 2014 3099 21113 2105 2464 21114 2104 8790 21115 2022 2465 21116 40336 8849 21117 40337 1205 21118 40243 1204 21119 2574 2638 21120 2573 2835 21121 2447 2636 21122 2506 1888 21123 2505 2934 21124 2487 1889 21125 2202 3859 21126 2201 8850 21127 1966 1939 21128 2111 651 21129 2110 8851 21130 2019 3021 21131 39232 303 21132 39238 6970 21133 39226 300 21134 1970 2007 21135 1969 2470 21136 2196 8852 21137 2426 2672 21138 2425 2671 21139 2608 3925 21140 1988 1935 21141 1987 1934 21142 2164 2288 21143 1985 2668 21144 1984 3040 21145 2170 7846 21146 2457 1849 21147 2456 2013 21148 2558 7801 21149 2186 2689 21150 2187 2279 21151 1982 2281 21152 28332 2307 21153 28331 2814 21154 28294 2308 21155 2640 3065 21156 2641 8853 21157 2413 2063 21158 41364 8854 21159 41414 3474 21160 41415 2274 21161 2008 2387 21162 2007 2222 21163 2130 3117 21164 38308 2475 21165 38309 1743 21166 38350 2519 21167 2190 1897 21168 2191 8855 21169 1979 2838 21170 1983 3238 21171 1982 2281 21172 2173 5424 21173 2486 1890 21174 2487 1889 21175 2516 4473 21176 2463 2862 21177 2464 1977 21178 2557 7802 21179 2184 5821 21180 2183 3423 21181 1976 1932 21182 1881 7147 21183 1878 7146 21184 1861 8856 21185 2617 8857 21186 2618 3253 21187 2427 3254 21188 2589 3157 21189 2590 8858 21190 2444 2912 21191 2516 4473 21192 2517 4472 21193 2486 1890 21194 2125 5343 21195 2126 5342 21196 2017 2950 21197 2068 1904 21198 2069 1903 21199 2051 3016 21200 2171 1388 21201 2172 5425 21202 1990 1389 21203 2506 1888 21204 2507 2986 21205 2494 2935 21206 2530 1995 21207 2529 2030 21208 2473 1996 21209 2511 8859 21210 2512 2570 21211 2490 2553 21212 2611 7649 21213 2612 7648 21214 2430 3144 21215 1938 8455 21216 1940 4946 21217 1946 4945 21218 41385 8789 21219 41384 8446 21220 41347 8860 21221 28073 3800 21222 28065 3799 21223 28064 7524 21224 2405 1907 21225 2644 2000 21226 2643 1920 21227 26123 56 21228 26122 850 21229 26091 1509 21230 2605 3275 21231 2604 2791 21232 2428 3141 21233 2630 1896 21234 2629 2510 21235 2413 2063 21236 29146 6176 21237 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2441 1937 21300 2440 1859 21301 2584 2898 21302 2117 7931 21303 2116 8801 21304 2015 2905 21305 2180 2837 21306 2179 2667 21307 1979 2838 21308 2640 3065 21309 2639 2994 21310 2407 3066 21311 2480 2032 21312 2479 2031 21313 2517 4472 21314 2561 5427 21315 2560 8842 21316 2455 2012 21317 2129 8265 21318 2128 1900 21319 2008 2387 21320 219 7729 21321 257 3506 21322 246 3505 21323 41356 3483 21324 41406 8867 21325 41405 2486 21326 39738 8868 21327 39739 8869 21328 39737 8740 21329 1952 6972 21330 1946 4945 21331 2053 2459 21332 2119 5077 21333 2120 8844 21334 2020 1947 21335 2135 4092 21336 2136 2891 21337 2011 2892 21338 41934 3113 21339 41983 8870 21340 41984 8871 21341 2499 2091 21342 2498 2282 21343 2492 2092 21344 2609 8846 21345 2608 3925 21346 2425 2671 21347 2211 4238 21348 2212 1938 21349 1967 1940 21350 27935 2842 21351 27984 8872 21352 27985 8616 21353 2131 8873 21354 2132 3098 21355 2014 3099 21356 2209 6102 21357 2210 8874 21358 1968 2021 21359 2097 2503 21360 2098 3309 21361 2033 2018 21362 2511 8859 21363 2510 8875 21364 2483 2448 21365 2619 7677 21366 2620 2670 21367 2426 2672 21368 2574 2638 21369 2575 2637 21370 2453 1915 21371 2537 2926 21372 2538 3183 21373 2475 1968 21374 2605 3275 21375 2606 3142 21376 2434 2792 21377 2192 2067 21378 2193 8836 21379 1978 2839 21380 2585 8876 21381 2586 2788 21382 2447 2636 21383 2095 3333 21384 2096 2017 21385 2034 2019 21386 2578 3307 21387 2579 3267 21388 2451 3048 21389 2121 8215 21390 2122 8877 21391 2019 3021 21392 2514 2602 21393 2515 2601 21394 2488 2461 21395 3504 6699 21396 3503 8368 21397 3561 2768 21398 2526 1970 21399 2527 1969 21400 2481 2440 21401 2549 2974 21402 2550 8878 21403 2467 1917 21404 3012 8879 21405 2742 8880 21406 2743 8881 21407 3362 8737 21408 3206 8882 21409 3208 8738 21410 3570 6860 21411 3569 2161 21412 3524 2572 21413 2133 4889 21414 2134 2285 21415 2013 2287 21416 2596 3132 21417 2595 1936 21418 2433 3133 21419 3940 8883 21420 3939 3441 21421 3897 2664 21422 42086 5652 21423 42085 3565 21424 42138 2769 21425 2160 1818 21426 2159 3073 21427 1991 1390 21428 2430 3144 21429 2431 3090 21430 2611 7649 21431 2553 3310 21432 2552 8884 21433 2460 1887 21434 41404 8885 21435 41403 1854 21436 41363 3475 21437 2412 1894 21438 2411 1921 21439 2631 1895 21440 2528 3292 21441 2527 1969 21442 2474 3184 21443 28104 8886 21444 28153 8799 21445 28155 8887 21446 2578 3307 21447 2577 2828 21448 2445 2437 21449 2539 1916 21450 2538 3183 21451 2467 1917 21452 2518 2433 21453 2519 2432 21454 2485 2044 21455 28100 1863 21456 28141 8888 21457 28099 5653 21458 3779 1953 21459 3778 2101 21460 3740 2547 21461 2057 7430 21462 2058 3015 21463 1948 3994 21464 3944 2454 21465 3943 8817 21466 3901 2925 21467 27876 5286 21468 27880 8889 21469 27879 8890 21470 28111 2991 21471 28112 8891 21472 28153 8799 21473 331 8798 21474 330 2662 21475 290 2664 21476 41958 8626 21477 41957 1806 21478 41919 2233 21479 2237 5141 21480 2234 2053 21481 2236 2055 21482 28973 8892 21483 28976 6616 21484 28974 8893 21485 2137 1929 21486 2138 1928 21487 2010 2002 21488 3931 3149 21489 3975 3745 21490 3974 8451 21491 27707 8894 21492 27715 8895 21493 27674 6068 21494 41795 2187 21495 41794 2759 21496 41752 2584 21497 28148 2182 21498 28147 8896 21499 28106 2374 21500 27926 3225 21501 27976 8897 21502 27977 8898 21503 2143 3050 21504 2144 2220 21505 2007 2222 21506 2623 7429 21507 2622 3438 21508 2418 2452 21509 27955 8899 21510 27954 8900 21511 27915 2193 21512 41581 3767 21513 41582 8297 21514 41529 3059 21515 41610 8353 21516 41611 6926 21517 41559 5451 21518 2490 2553 21519 2491 2093 21520 2511 8859 21521 3550 2552 21522 3551 2335 21523 3592 2334 21524 2462 2863 21525 2463 2862 21526 2559 8843 21527 3952 3258 21528 3909 1817 21529 3910 1816 21530 2630 1896 21531 2631 1895 21532 2420 2446 21533 2497 3992 21534 2391 3012 21535 2501 2555 21536 3727 3014 21537 3767 5434 21538 3766 8349 21539 2043 1952 21540 2042 1999 21541 2070 8901 21542 1966 1939 21543 1965 2846 21544 2203 3858 21545 2440 1859 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2594 3072 23367 2595 1936 23368 2441 1937 23369 2048 1908 23370 2047 2817 23371 2063 1909 23372 3378 9087 23373 3200 6574 23374 3199 6577 23375 28112 8891 23376 28162 2990 23377 28163 8826 23378 2535 3041 23379 2536 2836 23380 2476 2827 23381 38376 8413 23382 38377 9088 23383 38378 9089 23384 2583 2899 23385 2584 2898 23386 2448 2896 23387 2557 7802 23388 2556 8562 23389 2457 1849 23390 41768 3337 23391 41769 9090 23392 41717 3358 23393 2362 26 23394 2397 38 23395 2653 5894 23396 41411 2082 23397 41410 9091 23398 41368 2353 23399 26500 70 23400 26517 1085 23401 26516 6042 23402 2707 9092 23403 2708 9093 23404 2703 9094 23405 2684 4574 23406 2683 9095 23407 2682 1653 23408 2652 1962 23409 2653 5894 23410 2405 1907 23411 37779 9096 23412 37781 9097 23413 38186 9098 23414 26460 9099 23415 26459 9099 23416 26127 9099 23417 1901 9100 23418 1781 7855 23419 1779 9101 23420 3377 9102 23421 3265 9103 23422 3264 9104 23423 41943 3256 23424 41993 9000 23425 41994 9105 23426 2501 2555 23427 2500 3011 23428 2491 2093 23429 154 5659 23430 153 8793 23431 112 2415 23432 2628 3207 23433 2627 3087 23434 2414 2995 23435 41364 8854 23436 41416 2273 23437 41365 2484 23438 27581 8940 23439 27580 9106 23440 27541 6790 23441 2109 3191 23442 2108 2521 23443 2020 1947 23444 3879 3741 23445 3876 9107 23446 3932 3742 23447 41370 2048 23448 41413 9108 23449 41412 2358 23450 41992 8999 23451 41991 8452 23452 41949 2790 23453 2074 3242 23454 2075 2937 23455 2047 2817 23456 28344 3121 23457 28343 2927 23458 28308 3056 23459 2645 1882 23460 2646 3278 23461 2409 1965 23462 2047 2817 23463 2046 2938 23464 2065 2539 23465 37941 4905 23466 37834 940 23467 37926 8028 23468 3774 3185 23469 3773 2088 23470 3735 2073 23471 156 2743 23472 155 2166 23473 115 2168 23474 2039 1979 23475 2038 2027 23476 2075 2937 23477 2634 8866 23478 2635 3266 23479 2418 2452 23480 2484 2848 23481 2483 2448 23482 2510 8875 23483 2566 9109 23484 2565 8835 23485 2451 3048 23486 2015 2905 23487 2014 3099 23488 2118 8048 23489 2163 3218 23490 2164 2288 23491 1995 2290 23492 3783 2071 23493 3782 3232 23494 3745 2890 23495 27569 8700 23496 27615 6606 23497 27616 1476 23498 2004 1927 23499 2003 2277 23500 2138 1928 23501 2567 1848 23502 2566 9109 23503 2451 3048 23504 3064 5180 23505 3112 5197 23506 3111 5199 23507 2092 3951 23508 2091 2541 23509 2030 3306 23510 2493 2987 23511 2492 2092 23512 2498 2282 23513 2086 2982 23514 2085 1978 23515 2033 2018 23516 2549 2974 23517 2548 1833 23518 2462 2863 23519 41206 3869 23520 41205 9110 23521 41167 2456 23522 41950 9066 23523 41898 2789 23524 41897 9111 23525 2027 2522 23526 2026 2504 23527 2096 2017 23528 2561 5427 23529 2562 5426 23530 2461 1886 23531 2091 2541 23532 2090 3305 23533 2030 3306 23534 2217 1967 23535 1954 2951 23536 1963 2117 23537 41987 3394 23538 41986 3462 23539 41944 1780 23540 2062 1910 23541 2063 1909 23542 2055 4469 23543 2003 2277 23544 2002 2276 23545 2140 2386 23546 40389 9112 23547 40388 1213 23548 40331 7261 23549 41527 3392 23550 41528 3058 23551 41504 3057 23552 2141 8706 23553 2142 3456 23554 2008 2387 23555 41124 6627 23556 41123 4290 23557 41122 7763 23558 27934 9113 23559 27983 2752 23560 27984 8872 23561 2510 8875 23562 2492 2092 23563 2509 2045 23564 2520 7681 23565 2521 2847 23566 2484 2848 23567 28112 8891 23568 28164 8992 23569 28113 3161 23570 2001 3049 23571 2000 3094 23572 2144 2220 23573 2478 2016 23574 2477 2015 23575 2521 2847 23576 2201 8850 23577 2200 2020 23578 1967 1940 23579 41967 9072 23580 41968 2232 23581 41918 2234 23582 2113 2948 23583 2114 9114 23584 2023 2478 23585 41228 2523 23586 41227 3355 23587 41190 2404 23588 2086 2982 23589 2087 2825 23590 2039 1979 23591 1955 20 23592 1822 18 23593 1954 2951 23594 41600 2390 23595 41599 2295 23596 41556 2297 23597 28152 3602 23598 28151 9115 23599 28110 2882 23600 2570 9116 23601 2571 2011 23602 2456 2013 23603 87 1240 23604 84 9117 23605 141 6732 23606 3758 2696 23607 3757 1941 23608 3717 2206 23609 41545 1434 23610 41590 2729 23611 41589 5536 23612 3230 9118 23613 3381 9119 23614 3374 9120 23615 2052 2458 23616 2057 7430 23617 1953 7645 23618 2543 1975 23619 2542 8913 23620 2465 1976 23621 27932 2754 23622 27996 6670 23623 27982 6669 23624 38291 3175 23625 38292 3473 23626 38333 2693 23627 28361 3622 23628 28362 5435 23629 28320 3472 23630 3724 2090 23631 3725 2089 23632 3764 1750 23633 41383 9121 23634 41384 8446 23635 41336 8447 23636 29162 3995 23637 29163 7717 23638 29152 3996 23639 3787 2546 23640 3748 3470 23641 3749 3618 23642 27542 8941 23643 27589 8954 23644 27590 8953 23645 2422 2094 23646 2421 2511 23647 2616 7799 23648 28134 9051 23649 28186 8065 23650 28185 3843 23651 3694 3620 23652 3692 9122 23653 3749 3618 23654 2504 2966 23655 2503 3203 23656 2488 2461 23657 2551 1885 23658 2550 8878 23659 2461 1886 23660 3880 4515 23661 3979 2774 23662 3936 2711 23663 2151 3155 23664 2152 2275 23665 2003 2277 23666 2471 2388 23667 2472 1997 23668 2543 1975 23669 2074 3242 23670 2073 2816 23671 2039 1979 23672 25900 739 23673 25985 5760 23674 25896 3834 23675 2613 9016 23676 2614 8863 23677 2429 3140 23678 27601 8454 23679 27600 3383 23680 27563 1814 23681 26909 8153 23682 26581 9123 23683 26582 8729 23684 41654 9124 23685 41656 7590 23686 41657 1090 23687 27735 2506 23688 27736 3033 23689 27774 2565 23690 38337 2593 23691 38336 9125 23692 38295 2726 23693 2531 2450 23694 2530 1995 23695 2472 1997 23696 249 6885 23697 248 3545 23698 256 9126 23699 41596 9127 23700 41551 9128 23701 41552 3036 23702 3220 9129 23703 3371 7277 23704 3222 6643 23705 41938 9130 23706 41988 8821 23707 41989 9085 23708 38284 2595 23709 38285 2594 23710 38328 8388 23711 38288 2255 23712 38289 2254 23713 38331 6741 23714 28288 7610 23715 28368 8543 23716 28328 2 23717 41969 5550 23718 41970 3447 23719 41921 3371 23720 27798 3417 23721 27756 8924 23722 27757 5551 23723 3774 3185 23724 3775 3013 23725 3726 3082 23726 38285 2594 23727 38286 3478 23728 38329 222 23729 27607 8418 23730 27608 7934 23731 27561 3369 23732 42102 2427 23733 42144 9131 23734 42101 6664 23735 2618 3253 23736 2617 8857 23737 2421 2511 23738 3014 7088 23739 3011 3587 23740 3025 7087 23741 41979 9040 23742 41978 8942 23743 41938 9130 23744 41382 1643 23745 41381 1642 23746 41343 2518 23747 1874 4068 23748 1889 8590 23749 1890 8330 23750 41609 6729 23751 41610 8353 23752 41558 5450 23753 27792 3270 23754 27793 9045 23755 27744 2423 23756 27928 2347 23757 27968 3247 23758 27927 3224 23759 3409 751 23760 3408 753 23761 3169 784 23762 3008 7568 23763 3017 6620 23764 3018 7566 23765 41403 1854 23766 41402 1925 23767 41362 2359 23768 27781 3236 23769 27780 2050 23770 27741 3217 23771 41353 1856 23772 41354 1855 23773 41393 3442 23774 27779 2380 23775 27778 3221 23776 27739 2043 23777 28106 2374 23778 28107 2581 23779 28148 2182 23780 27930 2131 23781 27970 2642 23782 27929 2348 23783 41766 6663 23784 41723 2646 23785 41724 2645 23786 27769 3123 23787 27730 2865 23788 27731 2381 23789 27612 3199 23790 27611 3459 23791 27573 1729 23792 27597 8788 23793 27596 5656 23794 27559 8416 23795 3962 1819 23796 3961 1815 23797 3919 2263 23798 27966 9132 23799 27965 9061 23800 27925 8760 23801 27587 3044 23802 27586 2324 23803 27548 2326 23804 149 8828 23805 106 2330 23806 107 1751 23807 41610 8353 23808 41609 6729 23809 41567 7810 23810 37923 2787 23811 37946 2786 23812 37922 3317 23813 41232 3069 23814 41231 3276 23815 41194 3283 23816 27943 8617 23817 27993 3457 23818 27994 4373 23819 2167 8838 23820 2168 2369 23821 1993 2370 23822 2522 8865 23823 2523 2447 23824 2483 2448 23825 2010 2002 23826 2009 1899 23827 2126 5342 23828 41745 2068 23829 41796 8993 23830 41797 2627 23831 41390 3418 23832 41391 2517 23833 41351 2204 23834 28353 3064 23835 28318 2023 23836 28319 2911 23837 2060 3128 23838 2061 9001 23839 2056 6362 23840 28103 3603 23841 28104 8886 23842 28144 5598 23843 2460 1887 23844 2461 1886 23845 2563 1913 23846 41784 2777 23847 41783 2756 23848 41740 2775 23849 2132 3098 23850 2131 8873 23851 2007 2222 23852 38365 2165 23853 38366 2164 23854 38316 2701 23855 41553 3035 23856 41598 1433 23857 41597 3119 23858 2207 7679 23859 2208 9080 23860 1969 2470 23861 41363 3475 23862 41364 8854 23863 41404 8885 23864 2412 1894 23865 2413 2063 23866 2642 1905 23867 163 2414 23868 162 2109 23869 122 1955 23870 2451 3048 23871 2450 3268 23872 2567 1848 23873 1967 1940 23874 1966 1939 23875 2201 8850 23876 167 2690 23877 166 3034 23878 127 3105 23879 41536 2940 23880 41537 2939 23881 41580 9069 23882 41779 2228 23883 41778 3290 23884 41736 2227 23885 2610 8848 23886 2609 8846 23887 2425 2671 23888 3953 2924 23889 3952 3258 23890 3910 1816 23891 41201 8340 23892 41200 6720 23893 41162 2483 23894 2652 1962 23895 2651 9133 23896 2398 1963 23897 41552 3036 23898 41603 3425 23899 41604 3008 23900 26748 7516 23901 26880 4700 23902 26881 4702 23903 41584 8797 23904 41585 5469 23905 41531 2679 23906 27962 3110 23907 27961 2122 23908 27921 2643 23909 2455 2012 23910 2454 1914 23911 2562 5426 23912 1945 8393 23913 1939 1130 23914 1951 7851 23915 2111 651 23916 2112 8841 23917 2024 652 23918 2196 8852 23919 2195 2537 23920 1970 2007 23921 38294 2727 23922 38295 2726 23923 38336 9125 23924 170 2804 23925 169 4841 23926 130 1151 23927 40398 901 23928 40494 3324 23929 40234 3325 23930 27834 9134 23931 27832 9135 23932 27833 9136 23933 1949 3993 23934 2059 8988 23935 1950 7388 23936 28356 2495 23937 28355 2412 23938 28321 3214 23939 2465 1976 23940 2466 1918 23941 2553 3310 23942 2420 2446 23943 2419 2445 23944 2620 2670 23945 41770 3115 23946 41769 9090 23947 41727 3043 23948 2035 2813 23949 2092 3951 23950 2093 3239 23951 2190 1897 23952 2189 3125 23953 1973 1893 23954 2380 1735 23955 2375 1734 23956 2392 4943 23957 2587 3182 23958 2588 2436 23959 2446 2438 23960 1986 2669 23961 1985 2668 23962 2168 2369 23963 25951 7542 23964 25954 8591 23965 26071 8786 23966 2213 8944 23967 2214 2845 23968 1966 1939 23969 2450 3268 23970 2449 2434 23971 2569 3179 23972 2007 2222 23973 2006 2221 23974 2132 3098 23975 2458 1850 23976 2459 1974 23977 2566 9109 23978 2469 1835 23979 2468 1834 23980 2536 2836 23981 25879 8762 23982 25880 8978 23983 26117 5344 23984 41542 4119 23985 41596 9127 23986 41543 3120 23987 38868 9137 23988 38867 9138 23989 39169 9139 23990 2502 2554 23991 2496 3204 23992 2497 3992 23993 39247 6038 23994 39252 6358 23995 38911 1356 23996 38858 9140 23997 38859 9141 23998 39271 9142 23999 2446 2438 24000 2445 2437 24001 2577 2828 24002 41799 2256 24003 41798 2665 24004 41756 2666 24005 41212 3274 24006 41211 2893 24007 41174 3052 24008 2598 3092 24009 2599 3091 24010 2439 1858 24011 38296 8929 24012 38348 2609 24013 38297 3260 24014 27802 8630 24015 27702 3484 24016 27803 2578 24017 2571 2011 24018 2570 9116 24019 2449 2434 24020 3043 5222 24021 3098 5225 24022 3099 5223 24023 27953 2954 24024 27952 9077 24025 27913 2123 24026 1963 2117 24027 1962 2952 24028 2206 8758 24029 41781 9143 24030 41780 2798 24031 41738 2107 24032 2147 9144 24033 2146 2368 24034 1999 3074 24035 2543 1975 24036 2544 2953 24037 2471 2388 24038 3772 2760 24039 3771 2659 24040 3733 2660 24041 136 1795 24042 137 2890 24043 175 3232 24044 41216 2651 24045 41215 2247 24046 41178 2591 24047 41551 9128 24048 41602 5422 24049 41603 3425 24050 28564 904 24051 28710 2238 24052 28443 2240 24053 2182 3138 24054 2181 3039 24055 1978 2839 24056 2080 6687 24057 2081 1998 24058 2043 1952 24059 3607 1731 24060 3504 6699 24061 3560 1732 24062 41413 9108 24063 41414 3474 24064 41362 2359 24065 2607 3926 24066 2606 3142 24067 2426 2672 24068 2076 3975 24069 2077 3974 24070 2045 1919 24071 42167 2673 24072 42166 9145 24073 42126 2674 24074 38352 2886 24075 38351 2392 24076 38310 1742 24077 2115 3257 24078 2116 8801 24079 2022 2465 24080 2596 3132 24081 2597 1857 24082 2440 1859 24083 2452 2328 24084 2451 3048 24085 2565 8835 24086 2576 2829 24087 2575 2637 24088 2446 2438 24089 41728 2800 24090 41729 2799 24091 41771 2823 24092 2524 7013 24093 2523 2447 24094 2476 2827 24095 2563 1913 24096 2564 2327 24097 2460 1887 24098 2189 3125 24099 2188 1891 24100 1973 1893 24101 41601 9050 24102 41602 5422 24103 41549 2212 24104 2117 7931 24105 2118 8048 24106 2021 1946 24107 2642 1905 24108 2641 8853 24109 2406 1906 24110 2163 3218 24111 2162 9146 24112 1989 2059 24113 1993 2370 24114 1992 1912 24115 2157 2371 24116 2667 9147 24117 2670 9148 24118 2671 9149 24119 2107 1945 24120 2108 2521 24121 2027 2522 24122 2553 3310 24123 2554 9063 24124 2465 1976 24125 29160 8861 24126 29159 9150 24127 29145 6425 24128 39204 9151 24129 39206 7984 24130 39205 9152 24131 2129 8265 24132 2130 3117 24133 2015 2905 24134 2101 2477 24135 2102 8691 24136 2030 3306 24137 2852 1186 24138 2838 5248 24139 2839 8939 24140 2080 6687 24141 2079 1951 24142 2036 2542 24143 2448 2896 24144 2447 2636 24145 2573 2835 24146 26215 7937 24147 26214 6084 24148 26302 5109 24149 26629 957 24150 26628 1190 24151 26886 955 24152 42107 2270 24153 42148 8449 24154 42106 6731 24155 41681 9153 24156 41680 9154 24157 41689 9155 24158 39288 4329 24159 39289 9156 24160 39290 9157 24161 27552 3385 24162 27599 3367 24163 27598 3404 24164 2532 2389 24165 2531 2450 24166 2472 1997 24167 2504 2966 24168 2505 2934 24169 2495 2936 24170 41235 2549 24171 41234 3420 24172 41135 2820 24173 41746 2069 24174 41797 2627 24175 41798 2665 24176 2427 3254 24177 2428 3141 24178 2617 8857 24179 2526 1970 24180 2525 2439 24181 2475 1968 24182 2622 3438 24183 2621 8864 24184 2419 2445 24185 158 3261 24186 157 1750 24187 117 2692 24188 2078 2376 24189 2077 3974 24190 2037 2026 24191 2411 1921 24192 2410 2001 24193 2633 2451 24194 1953 7645 24195 1948 3994 24196 1951 7851 24197 1976 1932 24198 1975 1931 24199 2185 3237 24200 28168 2633 24201 28167 2871 24202 28125 1949 24203 1997 3156 24204 2160 1818 24205 2161 2058 24206 2456 2013 24207 2455 2012 24208 2560 8842 24209 2394 3419 24210 2498 2282 24211 2389 2284 24212 2419 2445 24213 2418 2452 24214 2622 3438 24215 2394 3419 24216 2389 2284 24217 2392 4943 24218 2396 37 24219 2261 35 24220 2395 1960 24221 2587 3182 24222 2586 2788 24223 2439 1858 24224 2444 2912 24225 2445 2437 24226 2589 3157 24227 2156 2372 24228 2157 2371 24229 2000 3094 24230 28120 8267 24231 28121 8827 24232 28162 2990 24233 2127 1901 24234 2126 5342 24235 2009 1899 24236 2602 3352 24237 2601 9158 24238 2430 3144 24239 2600 3143 24240 2601 9158 24241 2437 3026 24242 2400 3169 24243 2399 7086 24244 2649 3170 24245 27578 1759 24246 27577 8419 24247 27538 3188 24248 28351 3233 24249 28316 2516 24250 28317 2024 24251 157 1750 24252 156 2743 24253 116 2744 24254 3778 2101 24255 3739 2548 24256 3740 2547 24257 2555 1973 24258 2556 8562 24259 2464 1977 24260 344 2649 24261 343 2035 24262 303 2532 24263 2115 3257 24264 2114 9114 24265 2017 2950 24266 41790 9159 24267 41789 2106 24268 41747 2257 24269 42041 7533 24270 42069 9160 24271 42070 7534 24272 2405 1907 24273 2406 1906 24274 2652 1962 24275 2467 1917 24276 2468 1834 24277 2549 2974 24278 2161 2058 24279 2162 9146 24280 1996 2944 24281 3788 1796 24282 3787 2546 24283 3749 3618 24284 2192 2067 24285 2191 8855 24286 1972 1898 24287 41729 2799 24288 41730 2758 24289 41772 8367 24290 2127 1901 24291 2128 1900 24292 2016 2906 24293 2432 3134 24294 2433 3133 24295 2607 3926 24296 2489 2462 24297 2488 2461 24298 2503 3203 24299 37826 1604 24300 37825 1466 24301 38082 967 24302 41947 2426 24303 41998 2214 24304 41999 3740 24305 39923 989 24306 39892 382 24307 39800 384 24308 41582 8297 24309 41581 3767 24310 41538 2803 24311 3834 3492 24312 3863 8803 24313 3860 3490 24314 2078 2376 24315 2079 1951 24316 2044 1902 24317 2583 2899 24318 2582 2435 24319 2441 1937 24320 2174 8023 24321 2173 5424 24322 1982 2281 24323 41615 5475 24324 41616 3627 24325 41563 2599 24326 2473 1996 24327 2474 3184 24328 2539 1916 24329 28346 2213 24330 28345 1830 24331 28311 1829 24332 324 3296 24333 366 7909 24334 365 7065 24335 3765 3464 24336 3764 1750 24337 3725 2089 24338 2071 8042 24339 2070 8901 24340 2042 1999 24341 3756 9161 24342 3714 1752 24343 3715 1751 24344 27493 9162 24345 27463 9163 24346 27492 9164 24347 2580 2197 24348 2581 2196 24349 2450 3268 24350 2570 9116 24351 2569 3179 24352 2449 2434 24353 2516 4473 24354 2515 2601 24355 2480 2032 24356 2598 3092 24357 2597 1857 24358 2432 3134 24359 28157 2866 24360 28156 2373 24361 28114 3160 24362 2034 2019 24363 2033 2018 24364 2085 1978 24365 2145 8414 24366 2146 2368 24367 2006 2221 24368 2156 2372 24369 2155 3093 24370 1993 2370 24371 171 2101 24372 131 2805 24373 132 3382 24374 28335 3249 24375 28298 2597 24376 28299 2928 24377 38355 4586 24378 38356 6740 24379 38305 2765 24380 39792 698 24381 39791 628 24382 40039 536 24383 2011 2892 24384 2010 2002 24385 2124 9023 24386 2123 7456 24387 2124 9023 24388 2018 2949 24389 2198 2469 24390 2197 1930 24391 1969 2470 24392 2621 8864 24393 2622 3438 24394 2425 2671 24395 41539 2802 24396 41584 8797 24397 41583 9019 24398 2458 1850 24399 2457 1849 24400 2556 8562 24401 28180 5555 24402 28181 8300 24403 28129 8299 24404 41534 3265 24405 41586 9044 24406 41587 8921 24407 27925 8760 24408 27975 8996 24409 27976 8897 24410 27724 3363 24411 27725 1782 24412 27764 7659 24413 2532 2389 24414 2533 2014 24415 2478 2016 24416 42136 3406 24417 42185 6931 24418 42184 6930 24419 1999 3074 24420 1998 2859 24421 2148 2316 24422 3582 1824 24423 3581 3434 24424 3539 2534 24425 27434 7854 24426 27435 9165 24427 27433 9166 24428 28101 1864 24429 28102 3604 24430 28143 8061 24431 28121 8827 24432 28173 9167 24433 28122 2655 24434 39327 3231 24435 39608 9168 24436 39609 3229 24437 1795 9169 24438 1796 6762 24439 1797 6764 24440 38400 8339 24441 38730 9170 24442 38726 9171 24443 28758 7885 24444 28384 8002 24445 28382 8486 24446 3583 1981 24447 3582 1824 24448 3540 2742 24449 28545 23 24450 28559 22 24451 28544 2885 24452 39000 2647 24453 39070 1881 24454 38999 8914 24455 40135 7870 24456 40134 7760 24457 39802 889 24458 39259 9172 24459 38902 1607 24460 39258 9173 24461 27338 9174 24462 27013 9175 24463 27015 9176 24464 40197 9177 24465 40200 8354 24466 40198 9178 24467 137 2890 24468 184 8825 24469 185 3451 24470 2566 9109 24471 2567 1848 24472 2458 1850 24473 2568 8448 24474 2569 3179 24475 2457 1849 24476 3574 6923 24477 3573 8792 24478 3529 1826 24479 2176 4388 24480 2175 1933 24481 1981 2280 24482 2141 8706 24483 2140 2386 24484 2002 2276 24485 2014 3099 24486 2013 2287 24487 2120 8844 24488 38354 9179 24489 38355 4586 24490 38303 4588 24491 41202 3386 24492 41201 8340 24493 41163 3136 24494 28340 5663 24495 28339 8563 24496 28304 2528 24497 41562 2767 24498 41605 3007 24499 41561 3006 24500 2416 1993 24501 2417 2419 24502 2636 1964 24503 1998 2859 24504 1997 3156 24505 2150 2811 24506 2125 5343 24507 2124 9023 24508 2010 2002 24509 2615 7800 24510 2616 7799 24511 2428 3141 24512 2103 3137 24513 2102 8691 24514 2023 2478 24515 28136 3107 24516 28137 5556 24517 28179 8814 24518 38296 8929 24519 38346 2725 24520 38347 2610 24521 41594 8795 24522 41595 4118 24523 41541 4120 24524 27605 8415 24525 27604 2339 24526 27567 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96959 470494 82017 96957 470495 82018 96977 470496 82002 96959 470497 81806 96979 470498 81806 96979 470499 82002 96959 470500 81807 97177 470501 81807 97177 470502 82002 96959 470503 82185 96976 470504 81808 96975 470505 81807 97177 470506 82185 96976 470507 81905 96736 470508 81903 96872 470509 81902 96737 470510 82058 97027 470511 81978 96937 470512 81977 96936 470513 82058 97027 470514 81977 96936 470515 81997 96955 470516 82054 97024 470517 82058 97027 470518 82186 97043 470519 82186 97043 470520 82058 97027 470521 81997 96955 470522 82186 97043 470523 81997 96955 470524 82187 97178 470525 82187 97178 470526 81997 96955 470527 81996 96954 470528 82054 97024 470529 82186 97043 470530 82077 97042 470531 82076 97041 470532 82188 97179 470533 81999 97044 470534 81999 97044 470535 82188 97179 470536 82078 97045 470537 81998 97046 470538 82078 97045 470539 81816 96783 470540 82241 97039 470541 82076 97041 470542 82189 97180 470543 82189 97180 470544 82076 97041 470545 81999 97044 470546 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+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
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+    </visual_scene>
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+</COLLADA>
diff --git a/models/dave_robot_models/meshes/t200/ccw_prop.dae b/models/dave_robot_models/meshes/t200/ccw_prop.dae
new file mode 100644
index 00000000..1daa55c8
--- /dev/null
+++ b/models/dave_robot_models/meshes/t200/ccw_prop.dae
@@ -0,0 +1,101 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 3.5.1 commit date:2023-04-24, commit time:18:11, hash:e1ccd9d4a1d3</authoring_tool>
+    </contributor>
+    <created>2023-05-22T18:26:40</created>
+    <modified>2023-05-22T18:26:40</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="_0_107_145_004-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.117647 0.419608 0.568627 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="_0_107_145_004-material" name="30,107,145.004">
+      <instance_effect url="#_0_107_145_004-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
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1912 2312 11481 1163 2311 11482 1904 2301 11483 1912 2312 11484 1904 2301 11485 1913 2313 11486 1913 2313 11487 1904 2301 11488 1906 2303 11489 1913 2313 11490 1906 2303 11491 143 2314 11492 143 2314 11493 142 2315 11494 1913 2313 11495 1913 2313 11496 142 2315 11497 1908 2305 11498 1913 2313 11499 1908 2305 11500 1911 2309 11501 1913 2313 11502 1911 2309 11503 1912 2312 11504 1912 2312 11505 1911 2309 11506 1162 2310 11507</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="T200-CCW" name="T200-CCW" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 7.54979e-8 -1 0 0 1 7.54979e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#T200-CCW-mesh" name="T200-CCW">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="_0_107_145_004-material" target="#_0_107_145_004-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/models/dave_robot_models/meshes/t200/cw_prop.dae b/models/dave_robot_models/meshes/t200/cw_prop.dae
new file mode 100644
index 00000000..157e3ea7
--- /dev/null
+++ b/models/dave_robot_models/meshes/t200/cw_prop.dae
@@ -0,0 +1,101 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 3.5.1 commit date:2023-04-24, commit time:18:11, hash:e1ccd9d4a1d3</authoring_tool>
+    </contributor>
+    <created>2023-05-22T18:26:09</created>
+    <modified>2023-05-22T18:26:09</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="_0_107_145_003-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.117647 0.419608 0.568627 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="_0_107_145_003-material" name="30,107,145.003">
+      <instance_effect url="#_0_107_145_003-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="T200-CW-mesh" name="T200-CW">
+      <mesh>
+        <source id="T200-CW-mesh-positions">
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2094 10432 57 57 10433 57 57 10434 50 50 10435 1751 2093 10436 1751 2093 10437 50 50 10438 1752 2095 10439 1751 2093 10440 1752 2095 10441 1750 2091 10442 1750 2091 10443 1752 2095 10444 1753 2096 10445 1750 2091 10446 1753 2096 10447 1749 2088 10448 1749 2088 10449 1753 2096 10450 1748 2087 10451 1752 2095 10452 50 50 10453 1754 2097 10454 1754 2097 10455 50 50 10456 49 49 10457 1754 2097 10458 49 49 10459 1733 2072 10460 1754 2097 10461 1733 2072 10462 1755 2098 10463 1755 2098 10464 1733 2072 10465 1735 2074 10466 1755 2098 10467 1735 2074 10468 1747 2086 10469 1755 2098 10470 1747 2086 10471 1748 2087 10472 1755 2098 10473 1748 2087 10474 1753 2096 10475 1754 2097 10476 1755 2098 10477 1753 2096 10478 1754 2097 10479 1753 2096 10480 1752 2095 10481 1068 1359 10482 1070 1361 10483 1756 2099 10484 1756 2099 10485 1070 1361 10486 1757 2100 10487 1756 2099 10488 1757 2100 10489 1758 2101 10490 1758 2101 10491 1757 2100 10492 1759 2102 10493 1758 2101 10494 1759 2102 10495 1760 2103 10496 1758 2101 10497 1760 2103 10498 1761 2104 10499 1761 2104 10500 1760 2103 10501 64 64 10502 1761 2104 10503 64 64 10504 62 62 10505 1761 2104 10506 62 62 10507 1762 2105 10508 1762 2105 10509 62 62 10510 59 59 10511 1762 2105 10512 59 59 10513 1763 2106 10514 1763 2106 10515 59 59 10516 1764 2107 10517 1763 2106 10518 1764 2107 10519 1765 2108 10520 1765 2108 10521 1764 2107 10522 1766 2109 10523 1765 2108 10524 1766 2109 10525 1767 2110 10526 1767 2110 10527 1766 2109 10528 1768 2111 10529 1767 2110 10530 1768 2111 10531 1064 1355 10532 1064 1355 10533 1768 2111 10534 1058 2112 10535 1064 1355 10536 1058 2112 10537 1055 1351 10538 59 59 10539 58 58 10540 1764 2107 10541 1764 2107 10542 58 58 10543 1769 2113 10544 1764 2107 10545 1769 2113 10546 1766 2109 10547 1766 2109 10548 1769 2113 10549 1739 2114 10550 1766 2109 10551 1739 2114 10552 1741 2115 10553 57 57 10554 1737 2116 10555 58 58 10556 58 58 10557 1737 2116 10558 1769 2113 10559 1737 2116 10560 1739 2114 10561 1769 2113 10562 1741 2115 10563 1743 2117 10564 1766 2109 10565 1766 2109 10566 1743 2117 10567 1768 2111 10568 1743 2117 10569 1744 2118 10570 1768 2111 10571 1768 2111 10572 1744 2118 10573 1060 2119 10574 1768 2111 10575 1060 2119 10576 1059 2120 10577 1059 2120 10578 1058 2112 10579 1768 2111 10580 1064 1355 10581 1066 1357 10582 1767 2110 10583 1767 2110 10584 1066 1357 10585 1770 2121 10586 1767 2110 10587 1770 2121 10588 1765 2108 10589 1765 2108 10590 1770 2121 10591 1771 2122 10592 1765 2108 10593 1771 2122 10594 1763 2106 10595 1763 2106 10596 1771 2122 10597 1762 2105 10598 1770 2121 10599 1066 1357 10600 1772 2123 10601 1772 2123 10602 1066 1357 10603 1068 1359 10604 1772 2123 10605 1068 1359 10606 1756 2099 10607 1771 2122 10608 1770 2121 10609 1772 2123 10610 1772 2123 10611 1756 2099 10612 1773 2124 10613 1773 2124 10614 1756 2099 10615 1758 2101 10616 1773 2124 10617 1758 2101 10618 1761 2104 10619 1762 2105 10620 1771 2122 10621 1773 2124 10622 1773 2124 10623 1771 2122 10624 1772 2123 10625 1762 2105 10626 1773 2124 10627 1761 2104 10628 1774 2125 10629 1040 1327 10630 1775 2126 10631 1775 2126 10632 1040 1327 10633 1588 1915 10634 1775 2126 10635 1588 1915 10636 1776 2127 10637 1776 2127 10638 1588 1915 10639 1777 2128 10640 1776 2127 10641 1777 2128 10642 1759 2102 10643 1759 2102 10644 1777 2128 10645 1760 2103 10646 1760 2103 10647 1777 2128 10648 1578 1905 10649 1760 2103 10650 1578 1905 10651 64 64 10652 1588 1915 10653 1578 1905 10654 1777 2128 10655 1759 2102 10656 1757 2100 10657 1776 2127 10658 1776 2127 10659 1757 2100 10660 1775 2126 10661 1070 1361 10662 1778 2129 10663 1757 2100 10664 1757 2100 10665 1778 2129 10666 1775 2126 10667 1778 2129 10668 1774 2125 10669 1775 2126 10670 1779 2130 10671 1780 2131 10672 1069 1360 10673 1069 1360 10674 1780 2131 10675 1778 2129 10676 1069 1360 10677 1778 2129 10678 1070 1361 10679 1779 2130 10680 1781 2132 10681 1780 2131 10682 1780 2131 10683 1781 2132 10684 1040 1327 10685 1780 2131 10686 1040 1327 10687 1774 2125 10688 1781 2132 10689 1039 1326 10690 1040 1327 10691 1774 2125 10692 1778 2129 10693 1780 2131 10694 1439 1755 10695 1039 1326 10696 1782 2133 10697 1782 2133 10698 1039 1326 10699 1781 2132 10700 1782 2133 10701 1781 2132 10702 1779 2130 10703 1779 2130 10704 1069 1360 10705 1782 2133 10706 1782 2133 10707 1069 1360 10708 1385 1700 10709 1782 2133 10710 1385 1700 10711 1783 2134 10712 1783 2134 10713 1385 1700 10714 1784 2135 10715 1783 2134 10716 1784 2135 10717 1437 1753 10718 1437 1753 10719 1784 2135 10720 1390 1705 10721 1437 1753 10722 1390 1705 10723 96 96 10724 1385 1700 10725 1390 1705 10726 1784 2135 10727 1437 1753 10728 1439 1755 10729 1783 2134 10730 1783 2134 10731 1439 1755 10732 1782 2133 10733</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="T200-CW" name="T200-CW" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 7.54979e-8 -1 0 0 1 7.54979e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#T200-CW-mesh" name="T200-CW">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="_0_107_145_003-material" target="#_0_107_145_003-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

From ec612381a16634593e35c1793ac1620f93bedd70 Mon Sep 17 00:00:00 2001
From: Rakesh Vivekanandan <rakeshvivek97@gmail.com>
Date: Fri, 6 Sep 2024 07:22:29 +0530
Subject: [PATCH 03/11] fixed camera pose

---
 models/dave_robot_models/description/bluerov2/model.sdf     | 6 +++---
 .../dave_robot_models/description/bluerov2_heavy/model.sdf  | 6 +++---
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/models/dave_robot_models/description/bluerov2/model.sdf b/models/dave_robot_models/description/bluerov2/model.sdf
index 13f1b304..a6981ad8 100644
--- a/models/dave_robot_models/description/bluerov2/model.sdf
+++ b/models/dave_robot_models/description/bluerov2/model.sdf
@@ -51,6 +51,7 @@
     </link>
 
     <link name="camera_link">
+      <pose relative_to="camera_mount_link">0 0 0 0 0 0</pose>
       <inertial>
         <mass>0.0001</mass>
         <inertia>
@@ -82,6 +83,7 @@
     </link>
 
     <link name="camera_mount_link">
+      <pose relative_to="base_link">0.19 0 0.067 0 0 0</pose>
       <inertial>
         <mass>0.0001</mass>
         <inertia>
@@ -98,13 +100,11 @@
     <joint name="camera_joint" type="fixed">
       <parent>camera_mount_link</parent>
       <child>camera_link</child>
-      <pose>0 0 0 0 0 0</pose>
     </joint>
 
     <joint name="camera_mount_joint" type="fixed">
       <parent>base_link</parent>
       <child>camera_mount_link</child>
-      <pose>0.21 0 0.067 -1.571 0 -1.571</pose>
     </joint>
 
     <!-- Hydrodynamics plugin -->
@@ -409,7 +409,7 @@
       <modelXYZToAirplaneXForwardZDown>0 0 0 3.142 0 0</modelXYZToAirplaneXForwardZDown>
 
       <!-- Transform from the Gazebo world frame (ENU)
-           to the ArduPilot world frame (NED) -->
+           to the ArduPilot world frame (North-East-Down) -->
       <gazeboXYZToNED>0 0 0 3.142 0 1.571</gazeboXYZToNED>
 
       <!-- Sensors -->
diff --git a/models/dave_robot_models/description/bluerov2_heavy/model.sdf b/models/dave_robot_models/description/bluerov2_heavy/model.sdf
index 8ea68edd..f4463fae 100644
--- a/models/dave_robot_models/description/bluerov2_heavy/model.sdf
+++ b/models/dave_robot_models/description/bluerov2_heavy/model.sdf
@@ -51,6 +51,7 @@
     </link>
 
     <link name="camera_link">
+      <pose relative_to="camera_mount_link">0 0 0 0 0 0</pose>
       <inertial>
         <mass>0.0001</mass>
         <inertia>
@@ -82,6 +83,7 @@
     </link>
 
     <link name="camera_mount_link">
+      <pose relative_to="base_link">0.19 0 0.067 0 0 0</pose>
       <inertial>
         <mass>0.0001</mass>
         <inertia>
@@ -98,13 +100,11 @@
     <joint name="camera_joint" type="fixed">
       <parent>camera_mount_link</parent>
       <child>camera_link</child>
-      <pose>0 0 0 0 0 0</pose>
     </joint>
 
     <joint name="camera_mount_joint" type="fixed">
       <parent>base_link</parent>
       <child>camera_mount_link</child>
-      <pose>0.21 0 0.067 -1.571 0 -1.571</pose>
     </joint>
 
     <!-- Hydrodynamics plugin -->
@@ -496,7 +496,7 @@
       <modelXYZToAirplaneXForwardZDown>0 0 0 3.142 0 0</modelXYZToAirplaneXForwardZDown>
 
       <!-- Transform from the Gazebo world frame (ENU)
-           to the ArduPilot world frame (NED) -->
+           to the ArduPilot world frame (North-East-Down) -->
       <gazeboXYZToNED>0 0 0 3.142 0 1.571</gazeboXYZToNED>
 
       <!-- Sensors -->

From 70768d2cfcc947a7414137a6bf247a185b2c18df Mon Sep 17 00:00:00 2001
From: Rakesh Vivekanandan <rakeshvivek97@gmail.com>
Date: Mon, 16 Sep 2024 17:30:24 +0530
Subject: [PATCH 04/11] Added bluerov2 config files and support for ardusub,
 mavros

---
 .codespellrc                                  |   3 +
 examples/dave_demos/README.md                 |  12 +-
 extras/repos/dave.jazzy.repos                 |   5 +
 .../config/ardusub/ardusub_manager.yaml       |   7 +
 .../config/ardusub/mavros.yaml                |  22 +++
 .../config/bluerov2/ardusub.parm              | 114 ++++++++++++++++
 .../config/bluerov2/robot_config.py           | 129 ++++++++++++++++++
 .../config/bluerov2/ros_gz_bridge.py          |  51 -------
 .../config/bluerov2_heavy/ardusub.parm        |  94 +++++++++++++
 .../config/bluerov2_heavy/robot_config.py     | 129 ++++++++++++++++++
 .../config/bluerov2_heavy/ros_gz_bridge.py    |  51 -------
 .../{ros_gz_bridge.py => robot_config.py}     |   0
 .../{ros_gz_bridge.py => robot_config.py}     |   0
 .../description/bluerov2_heavy/model.sdf      |   2 +-
 .../launch/upload_robot.launch.py             |  12 +-
 15 files changed, 516 insertions(+), 115 deletions(-)
 create mode 100644 .codespellrc
 create mode 100644 models/dave_robot_models/config/ardusub/ardusub_manager.yaml
 create mode 100644 models/dave_robot_models/config/ardusub/mavros.yaml
 create mode 100644 models/dave_robot_models/config/bluerov2/ardusub.parm
 create mode 100644 models/dave_robot_models/config/bluerov2/robot_config.py
 delete mode 100644 models/dave_robot_models/config/bluerov2/ros_gz_bridge.py
 create mode 100644 models/dave_robot_models/config/bluerov2_heavy/ardusub.parm
 create mode 100644 models/dave_robot_models/config/bluerov2_heavy/robot_config.py
 delete mode 100644 models/dave_robot_models/config/bluerov2_heavy/ros_gz_bridge.py
 rename models/dave_robot_models/config/glider_slocum/{ros_gz_bridge.py => robot_config.py} (100%)
 rename models/dave_robot_models/config/rexrov/{ros_gz_bridge.py => robot_config.py} (100%)

diff --git a/.codespellrc b/.codespellrc
new file mode 100644
index 00000000..2723add7
--- /dev/null
+++ b/.codespellrc
@@ -0,0 +1,3 @@
+[codespell]
+skip = *.json
+ignore-words-list = parm,ned,sitl
diff --git a/examples/dave_demos/README.md b/examples/dave_demos/README.md
index 8ebefe92..ec7324b8 100644
--- a/examples/dave_demos/README.md
+++ b/examples/dave_demos/README.md
@@ -60,22 +60,22 @@ Before launching, ensure to build and source the workspace:
 colcon build && source install/setup.bash
 ```
 
-1. Launching REXROV in an empty world:
+1. Launching REXROV in dave_ocean_waves.world:
 
 ```bash
-ros2 launch dave_demos dave_robot.launch.py z:=2.0 namespace:=rexrov world_name:=empty.sdf paused:=false
+ros2 launch dave_demos dave_robot.launch.py z:=-5 namespace:=rexrov world_name:=dave_ocean_waves paused:=false
 ```
 
-2. Launching REXROV in dave_ocean_waves.world:
+2. Launching BlueROV2 in dave_ocean_waves.world:
 
 ```bash
-ros2 launch dave_demos dave_robot.launch.py z:=-5 namespace:=rexrov world_name:=dave_ocean_waves paused:=false
+ros2 launch dave_demos dave_robot.launch.py z:=-5 namespace:=bluerov2 world_name:=dave_ocean_waves paused:=false
 ```
 
-3. Launching Slocum Glider in an empty world:
+3. Launching BlueROV2 Heavy in dave_ocean_waves.world:
 
 ```bash
-ros2 launch dave_demos dave_robot.launch.py z:=0.2 namespace:=glider_slocum world_name:=empty.sdf paused:=false
+ros2 launch dave_demos dave_robot.launch.py z:=-5 namespace:=bluerov2_heavy world_name:=dave_ocean_waves paused:=false
 ```
 
 4. Launching Slocum Glider in dave_ocean_waves.world:
diff --git a/extras/repos/dave.jazzy.repos b/extras/repos/dave.jazzy.repos
index 0ccdf36e..9a3f650f 100644
--- a/extras/repos/dave.jazzy.repos
+++ b/extras/repos/dave.jazzy.repos
@@ -13,3 +13,8 @@ repositories:
     type: git
     url: https://github.com/IOES-Lab/dave.git
     version: ros2
+
+  ardusub_driver:
+    type: git
+    url: https://github.com/Robotic-Decision-Making-Lab/ardusub_driver.git
+    version: main
diff --git a/models/dave_robot_models/config/ardusub/ardusub_manager.yaml b/models/dave_robot_models/config/ardusub/ardusub_manager.yaml
new file mode 100644
index 00000000..b1cae256
--- /dev/null
+++ b/models/dave_robot_models/config/ardusub/ardusub_manager.yaml
@@ -0,0 +1,7 @@
+ardusub_manager:
+  ros__parameters:
+    message_intervals:
+      ids: [31, 32]
+      rates: [50.0, 50.0]
+    set_ekf_origin: true
+    publish_tf: false
diff --git a/models/dave_robot_models/config/ardusub/mavros.yaml b/models/dave_robot_models/config/ardusub/mavros.yaml
new file mode 100644
index 00000000..8d86da0c
--- /dev/null
+++ b/models/dave_robot_models/config/ardusub/mavros.yaml
@@ -0,0 +1,22 @@
+mavros:
+  ros__parameters:
+    system_id: 255
+    plugin_allowlist:
+      - sys_status
+      - command
+      - imu
+      - rc_io
+      - param
+      - local*
+      - global_position
+
+mavros_node:
+  ros__parameters:
+    fcu_url: "tcp://localhost"
+    gcs_url: "udp://@localhost:14550"
+
+mavros/local_position:
+  ros__parameters:
+    frame_id: "map"
+    tf:
+      send: false
diff --git a/models/dave_robot_models/config/bluerov2/ardusub.parm b/models/dave_robot_models/config/bluerov2/ardusub.parm
new file mode 100644
index 00000000..40b9c1de
--- /dev/null
+++ b/models/dave_robot_models/config/bluerov2/ardusub.parm
@@ -0,0 +1,114 @@
+# These settings were copied from ardupilot/Tools/autotest/default_params/sub.parm
+BATT_MONITOR     4
+BTN0_FUNCTION    0
+BTN10_SFUNCTION  0
+BTN10_FUNCTION   22
+BTN10_SFUNCTION  0
+BTN11_FUNCTION   42
+BTN11_SFUNCTION  47
+BTN12_FUNCTION   43
+BTN12_SFUNCTION  46
+BTN13_FUNCTION   33
+BTN13_SFUNCTION  45
+BTN14_FUNCTION   32
+BTN14_SFUNCTION  44
+BTN15_FUNCTION   0
+BTN15_SFUNCTION  0
+BTN1_FUNCTION    6
+BTN1_SFUNCTION   0
+BTN2_FUNCTION    8
+BTN2_SFUNCTION   0
+BTN3_FUNCTION    7
+BTN3_SFUNCTION   0
+BTN4_FUNCTION    4
+BTN4_SFUNCTION   0
+BTN5_FUNCTION    1
+BTN5_SFUNCTION   0
+BTN6_FUNCTION    3
+BTN6_SFUNCTION   0
+BTN7_FUNCTION    21
+BTN7_SFUNCTION   0
+BTN8_FUNCTION    48
+BTN8_SFUNCTION   0
+BTN9_FUNCTION    23
+BTN9_SFUNCTION   0
+COMPASS_OFS_X   5
+COMPASS_OFS_Y   13
+COMPASS_OFS_Z   -18
+COMPASS_OFS2_X   5
+COMPASS_OFS2_Y   13
+COMPASS_OFS2_Z   -18
+COMPASS_OFS3_X   5
+COMPASS_OFS3_Y   13
+COMPASS_OFS3_Z   -18
+INS_ACCOFFS_X   0.001
+INS_ACCOFFS_Y   0.001
+INS_ACCOFFS_Z   0.001
+INS_ACCSCAL_X   1.001
+INS_ACCSCAL_Y   1.001
+INS_ACCSCAL_Z   1.001
+INS_ACC2OFFS_X   0.001
+INS_ACC2OFFS_Y   0.001
+INS_ACC2OFFS_Z   0.001
+INS_ACC2SCAL_X   1.001
+INS_ACC2SCAL_Y   1.001
+INS_ACC2SCAL_Z   1.001
+INS_ACC3OFFS_X   0.000
+INS_ACC3OFFS_Y   0.000
+INS_ACC3OFFS_Z   0.000
+INS_ACC3SCAL_X   1.000
+INS_ACC3SCAL_Y   1.000
+INS_ACC3SCAL_Z   1.000
+MNT_ANGMAX_TIL 4500
+MNT_ANGMIN_TIL -4500
+MNT_DEFLT_MODE 3
+MNT_JSTICK_SPD 100
+MNT_RC_IN_TILT 8
+MNT_STAB_TILT 0
+MNT_TYPE 1
+PSC_ACCZ_P   2
+PSC_ACCZ_I   4
+PSC_ACCZ_FF  0.75
+PSC_VELZ_P   8
+PSC_POSZ_P   3
+PSC_POSXY_P 2.5
+PSC_VELXY_D 0.8
+PSC_VELXY_I 0.5
+PSC_VELXY_P 5.0
+RNGFND1_MAX_CM   3000
+RNGFND1_PIN   0
+RNGFND1_SCALING   12.12
+RNGFND1_TYPE   1
+SERVO8_FUNCTION 7
+SERVO8_MAX 1900
+SERVO8_MIN 1100
+BARO_EXT_BUS 1
+
+# Use EK3
+EK2_ENABLE 0
+EK3_ENABLE 1
+AHRS_EKF_TYPE 3
+
+# Enable external nav
+# From https://ardupilot.org/copter/docs/common-vio-tracking-camera.html
+GPS_TYPE 0            # Disable GPS
+VISO_TYPE 1           # External vision
+EK3_SRC1_POSXY 6      # External nav
+EK3_SRC1_VELXY 6      # External nav
+EK3_SRC1_POSZ 1       # Baro is the primary z source
+EK3_SRC1_VELZ 6       # External nav z velocity influences EKF
+COMPASS_USE 0         # Disable compass 1
+COMPASS_USE2 0        # Disable compass 2
+COMPASS_USE3 0        # Disable compass 3
+EK3_SRC1_YAW 6        # External nav
+
+# See https://github.com/clydemcqueen/bluerov2_ignition/issues/7
+SIM_BARO_RND 0.01
+
+# Store thruster parameters as backups
+SERVO1_FUNCTION 33
+SERVO2_FUNCTION 34
+SERVO3_FUNCTION 35
+SERVO4_FUNCTION 36
+SERVO5_FUNCTION 37
+SERVO6_FUNCTION 38
diff --git a/models/dave_robot_models/config/bluerov2/robot_config.py b/models/dave_robot_models/config/bluerov2/robot_config.py
new file mode 100644
index 00000000..efab4819
--- /dev/null
+++ b/models/dave_robot_models/config/bluerov2/robot_config.py
@@ -0,0 +1,129 @@
+from launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    OpaqueFunction,
+    ExecuteProcess,
+    IncludeLaunchDescription,
+)
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+
+def launch_setup(context, *args, **kwargs):
+    namespace = LaunchConfiguration("namespace").perform(context)
+
+    thruster_joints = []
+    for thruster in range(1, 7):
+        thruster_joints.append(f"/model/{namespace}/joint/thruster{thruster}_joint")
+
+    bluerov2_arguments = (
+        [f"{joint}/cmd_thrust@std_msgs/msg/Float64@gz.msgs.Double" for joint in thruster_joints]
+        + [f"{joint}/ang_vel@std_msgs/msg/Float64@gz.msgs.Double" for joint in thruster_joints]
+        + [
+            f"{joint}/enable_deadband@std_msgs/msg/Bool@gz.msgs.Boolean"
+            for joint in thruster_joints
+        ]
+        + [
+            f"/model/{namespace}/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry",
+            f"/model/{namespace}/odometry_with_covariance@nav_msgs/msg/Odometry@gz.msgs.OdometryWithCovariance",
+            f"/model/{namespace}/pose@geometry_msgs/msg/PoseArray@gz.msgs.Pose_V",
+            f"/model/{namespace}/imu@sensor_msgs/msg/Imu@gz.msgs.IMU",
+            f"/model/{namespace}/magnetometer@sensor_msgs/msg/MagneticField@gz.msgs.Magnetometer",
+            f"/model/{namespace}/camera/image_raw@sensor_msgs/msg/Image@gz.msgs.Image",
+            f"/model/{namespace}/camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo",
+        ]
+    )
+
+    bluerov2_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=bluerov2_arguments,
+        output="screen",
+    )
+
+    mavros_file = LaunchConfiguration("mavros_file")
+
+    mavros_node = Node(
+        package="mavros",
+        executable="mavros_node",
+        output="screen",
+        parameters=[mavros_file, {"use_sim_time": True}],
+    )
+
+    nodes = [bluerov2_bridge, mavros_node]
+
+    ardusub_params = LaunchConfiguration("ardusub_params").perform(context)
+
+    ardusub_cmd = [
+        "ardusub -S -w -M JSON --defaults "
+        + ardusub_params
+        + " -IO --home 44.65870,-124.06556,0.0,270.0"
+    ]
+
+    ardusub_process = ExecuteProcess(cmd=ardusub_cmd, shell=True, output="screen")
+
+    processes = [ardusub_process]
+
+    ardusub_manager_file = LaunchConfiguration("ardusub_manager_file")
+
+    # Include the ardusub_manager launch file
+    ardusub_manager = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("ardusub_manager"),
+                        "launch",
+                        "ardusub_manager.launch.py",
+                    ]
+                )
+            ]
+        ),
+        launch_arguments={
+            "ardusub_manager_file": ardusub_manager_file,
+        }.items(),
+    )
+
+    includes = [ardusub_manager]
+
+    return nodes + processes + includes
+
+
+def generate_launch_description():
+    args = [
+        DeclareLaunchArgument(
+            "namespace",
+            default_value="",
+            description="Namespace",
+        ),
+        DeclareLaunchArgument(
+            "mavros_file",
+            default_value=PathJoinSubstitution(
+                [FindPackageShare("dave_robot_models"), "config", "ardusub", "mavros.yaml"]
+            ),
+            description="Path to mavros.yaml file",
+        ),
+        DeclareLaunchArgument(
+            "ardusub_params",
+            default_value=PathJoinSubstitution(
+                [FindPackageShare("dave_robot_models"), "config", "bluerov2", "ardusub.parm"]
+            ),
+            description="Path to ardusub.parm file",
+        ),
+        DeclareLaunchArgument(
+            "ardusub_manager_file",
+            default_value=PathJoinSubstitution(
+                [
+                    FindPackageShare("dave_robot_models"),
+                    "config",
+                    "ardusub",
+                    "ardusub_manager.yaml",
+                ]
+            ),
+            description="Path to ardusub_manager.yaml file",
+        ),
+    ]
+
+    return LaunchDescription(args + [OpaqueFunction(function=launch_setup)])
diff --git a/models/dave_robot_models/config/bluerov2/ros_gz_bridge.py b/models/dave_robot_models/config/bluerov2/ros_gz_bridge.py
deleted file mode 100644
index 6c092bab..00000000
--- a/models/dave_robot_models/config/bluerov2/ros_gz_bridge.py
+++ /dev/null
@@ -1,51 +0,0 @@
-from launch import LaunchDescription
-from launch_ros.actions import Node
-from launch.substitutions import LaunchConfiguration
-from launch.actions import DeclareLaunchArgument, OpaqueFunction
-
-
-def launch_setup(context, *args, **kwargs):
-    namespace = LaunchConfiguration("namespace").perform(context)
-
-    thruster_joints = []
-    for thruster in range(1, 7):
-        thruster_joints.append(f"/model/{namespace}/joint/thruster{thruster}_joint")
-
-    bluerov2_arguments = (
-        [f"{joint}/cmd_thrust@std_msgs/msg/Float64@gz.msgs.Double" for joint in thruster_joints]
-        + [f"{joint}/ang_vel@std_msgs/msg/Float64@gz.msgs.Double" for joint in thruster_joints]
-        + [
-            f"{joint}/enable_deadband@std_msgs/msg/Bool@gz.msgs.Boolean"
-            for joint in thruster_joints
-        ]
-        + [
-            f"/model/{namespace}/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry",
-            f"/model/{namespace}/odometry_with_covariance@nav_msgs/msg/Odometry@gz.msgs.OdometryWithCovariance",
-            f"/model/{namespace}/pose@geometry_msgs/msg/PoseArray@gz.msgs.Pose_V",
-            f"/model/{namespace}/imu@sensor_msgs/msg/Imu@gz.msgs.IMU",
-            f"/model/{namespace}/magnetometer@sensor_msgs/msg/MagneticField@gz.msgs.Magnetometer",
-            f"/model/{namespace}/camera/image_raw@sensor_msgs/msg/Image@gz.msgs.Image",
-            f"/model/{namespace}/camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo",
-        ]
-    )
-
-    bluerov2_bridge = Node(
-        package="ros_gz_bridge",
-        executable="parameter_bridge",
-        arguments=bluerov2_arguments,
-        output="screen",
-    )
-
-    return [bluerov2_bridge]
-
-
-def generate_launch_description():
-    args = [
-        DeclareLaunchArgument(
-            "namespace",
-            default_value="",
-            description="Namespace",
-        ),
-    ]
-
-    return LaunchDescription(args + [OpaqueFunction(function=launch_setup)])
diff --git a/models/dave_robot_models/config/bluerov2_heavy/ardusub.parm b/models/dave_robot_models/config/bluerov2_heavy/ardusub.parm
new file mode 100644
index 00000000..e8f67cc8
--- /dev/null
+++ b/models/dave_robot_models/config/bluerov2_heavy/ardusub.parm
@@ -0,0 +1,94 @@
+# These settings were copied from ardupilot/Tools/autotest/default_params/sub-6dof.parm
+BARO_RND         0.02
+BATT_MONITOR     4
+BTN0_FUNCTION    0
+BTN10_SFUNCTION  0
+BTN10_FUNCTION   22
+BTN10_SFUNCTION  0
+BTN11_FUNCTION   42
+BTN11_SFUNCTION  47
+BTN12_FUNCTION   43
+BTN12_SFUNCTION  46
+BTN13_FUNCTION   33
+BTN13_SFUNCTION  45
+BTN14_FUNCTION   32
+BTN14_SFUNCTION  44
+BTN15_FUNCTION   0
+BTN15_SFUNCTION  0
+BTN1_FUNCTION    6
+BTN1_SFUNCTION   0
+BTN2_FUNCTION    8
+BTN2_SFUNCTION   0
+BTN3_FUNCTION    7
+BTN3_SFUNCTION   0
+BTN4_FUNCTION    4
+BTN4_SFUNCTION   0
+BTN5_FUNCTION    1
+BTN5_SFUNCTION   0
+BTN6_FUNCTION    3
+BTN6_SFUNCTION   0
+BTN7_FUNCTION    21
+BTN7_SFUNCTION   0
+BTN8_FUNCTION    48
+BTN8_SFUNCTION   0
+BTN9_FUNCTION    23
+BTN9_SFUNCTION   0
+COMPASS_OFS_X   5
+COMPASS_OFS_Y   13
+COMPASS_OFS_Z   -18
+COMPASS_OFS2_X   5
+COMPASS_OFS2_Y   13
+COMPASS_OFS2_Z   -18
+COMPASS_OFS3_X   5
+COMPASS_OFS3_Y   13
+COMPASS_OFS3_Z   -18
+INS_ACCOFFS_X   0.001
+INS_ACCOFFS_Y   0.001
+INS_ACCOFFS_Z   0.001
+INS_ACCSCAL_X   1.001
+INS_ACCSCAL_Y   1.001
+INS_ACCSCAL_Z   1.001
+INS_ACC2OFFS_X   0.001
+INS_ACC2OFFS_Y   0.001
+INS_ACC2OFFS_Z   0.001
+INS_ACC2SCAL_X   1.001
+INS_ACC2SCAL_Y   1.001
+INS_ACC2SCAL_Z   1.001
+INS_ACC3OFFS_X   0.000
+INS_ACC3OFFS_Y   0.000
+INS_ACC3OFFS_Z   0.000
+INS_ACC3SCAL_X   1.000
+INS_ACC3SCAL_Y   1.000
+INS_ACC3SCAL_Z   1.000
+FRAME_CONFIG     2.000
+
+# Use EK3
+EK2_ENABLE 0
+EK3_ENABLE 1
+AHRS_EKF_TYPE 3
+
+# Enable external nav
+# From https://ardupilot.org/copter/docs/common-vio-tracking-camera.html
+GPS_TYPE 0            # Disable GPS
+VISO_TYPE 1           # External vision
+EK3_SRC1_POSXY 6      # External nav
+EK3_SRC1_VELXY 6      # External nav
+EK3_SRC1_POSZ 1       # Baro is the primary z source
+EK3_SRC1_VELZ 6       # External nav z velocity influences EKF
+COMPASS_USE 0         # Disable compass 1
+COMPASS_USE2 0        # Disable compass 2
+COMPASS_USE3 0        # Disable compass 3
+EK3_SRC1_YAW 6        # External nav
+
+# See https://github.com/clydemcqueen/bluerov2_ignition/issues/7
+SIM_BARO_RND 0.01
+
+# Store thruster parameters as backups
+SERVO1_FUNCTION 33
+SERVO2_FUNCTION 34
+SERVO3_FUNCTION 35
+SERVO4_FUNCTION 36
+SERVO5_FUNCTION 37
+SERVO6_FUNCTION 38
+SERVO7_FUNCTION 39
+SERVO8_FUNCTION 40
diff --git a/models/dave_robot_models/config/bluerov2_heavy/robot_config.py b/models/dave_robot_models/config/bluerov2_heavy/robot_config.py
new file mode 100644
index 00000000..74f6e23e
--- /dev/null
+++ b/models/dave_robot_models/config/bluerov2_heavy/robot_config.py
@@ -0,0 +1,129 @@
+from launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    OpaqueFunction,
+    ExecuteProcess,
+    IncludeLaunchDescription,
+)
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+
+def launch_setup(context, *args, **kwargs):
+    namespace = LaunchConfiguration("namespace").perform(context)
+
+    thruster_joints = []
+    for thruster in range(1, 9):
+        thruster_joints.append(f"/model/{namespace}/joint/thruster{thruster}_joint")
+
+    bluerov2_heavy_arguments = (
+        [f"{joint}/cmd_thrust@std_msgs/msg/Float64@gz.msgs.Double" for joint in thruster_joints]
+        + [f"{joint}/ang_vel@std_msgs/msg/Float64@gz.msgs.Double" for joint in thruster_joints]
+        + [
+            f"{joint}/enable_deadband@std_msgs/msg/Bool@gz.msgs.Boolean"
+            for joint in thruster_joints
+        ]
+        + [
+            f"/model/{namespace}/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry",
+            f"/model/{namespace}/odometry_with_covariance@nav_msgs/msg/Odometry@gz.msgs.OdometryWithCovariance",
+            f"/model/{namespace}/pose@geometry_msgs/msg/PoseArray@gz.msgs.Pose_V",
+            f"/model/{namespace}/imu@sensor_msgs/msg/Imu@gz.msgs.IMU",
+            f"/model/{namespace}/magnetometer@sensor_msgs/msg/MagneticField@gz.msgs.Magnetometer",
+            f"/model/{namespace}/camera/image_raw@sensor_msgs/msg/Image@gz.msgs.Image",
+            f"/model/{namespace}/camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo",
+        ]
+    )
+
+    bluerov2_heavy_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=bluerov2_heavy_arguments,
+        output="screen",
+    )
+
+    mavros_file = LaunchConfiguration("mavros_file")
+
+    mavros_node = Node(
+        package="mavros",
+        executable="mavros_node",
+        output="screen",
+        parameters=[mavros_file, {"use_sim_time": True}],
+    )
+
+    nodes = [bluerov2_heavy_bridge, mavros_node]
+
+    ardusub_params = LaunchConfiguration("ardusub_params").perform(context)
+
+    ardusub_cmd = [
+        "ardusub -S -w -M JSON --defaults "
+        + ardusub_params
+        + " -IO --home 44.65870,-124.06556,0.0,270.0"
+    ]
+
+    ardusub_process = ExecuteProcess(cmd=ardusub_cmd, shell=True, output="screen")
+
+    processes = [ardusub_process]
+
+    ardusub_manager_file = LaunchConfiguration("ardusub_manager_file")
+
+    # Include the ardusub_manager launch file
+    ardusub_manager = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("ardusub_manager"),
+                        "launch",
+                        "ardusub_manager.launch.py",
+                    ]
+                )
+            ]
+        ),
+        launch_arguments={
+            "ardusub_manager_file": ardusub_manager_file,
+        }.items(),
+    )
+
+    includes = [ardusub_manager]
+
+    return nodes + processes + includes
+
+
+def generate_launch_description():
+    args = [
+        DeclareLaunchArgument(
+            "namespace",
+            default_value="",
+            description="Namespace",
+        ),
+        DeclareLaunchArgument(
+            "mavros_file",
+            default_value=PathJoinSubstitution(
+                [FindPackageShare("dave_robot_models"), "config", "ardusub", "mavros.yaml"]
+            ),
+            description="Path to mavros.yaml file",
+        ),
+        DeclareLaunchArgument(
+            "ardusub_params",
+            default_value=PathJoinSubstitution(
+                [FindPackageShare("dave_robot_models"), "config", "bluerov2", "ardusub.parm"]
+            ),
+            description="Path to ardusub.parm file",
+        ),
+        DeclareLaunchArgument(
+            "ardusub_manager_file",
+            default_value=PathJoinSubstitution(
+                [
+                    FindPackageShare("dave_robot_models"),
+                    "config",
+                    "ardusub",
+                    "ardusub_manager.yaml",
+                ]
+            ),
+            description="Path to ardusub_manager.yaml file",
+        ),
+    ]
+
+    return LaunchDescription(args + [OpaqueFunction(function=launch_setup)])
diff --git a/models/dave_robot_models/config/bluerov2_heavy/ros_gz_bridge.py b/models/dave_robot_models/config/bluerov2_heavy/ros_gz_bridge.py
deleted file mode 100644
index ee7e525a..00000000
--- a/models/dave_robot_models/config/bluerov2_heavy/ros_gz_bridge.py
+++ /dev/null
@@ -1,51 +0,0 @@
-from launch import LaunchDescription
-from launch_ros.actions import Node
-from launch.substitutions import LaunchConfiguration
-from launch.actions import DeclareLaunchArgument, OpaqueFunction
-
-
-def launch_setup(context, *args, **kwargs):
-    namespace = LaunchConfiguration("namespace").perform(context)
-
-    thruster_joints = []
-    for thruster in range(1, 9):
-        thruster_joints.append(f"/model/{namespace}/joint/thruster{thruster}_joint")
-
-    bluerov2_heavy_arguments = (
-        [f"{joint}/cmd_thrust@std_msgs/msg/Float64@gz.msgs.Double" for joint in thruster_joints]
-        + [f"{joint}/ang_vel@std_msgs/msg/Float64@gz.msgs.Double" for joint in thruster_joints]
-        + [
-            f"{joint}/enable_deadband@std_msgs/msg/Bool@gz.msgs.Boolean"
-            for joint in thruster_joints
-        ]
-        + [
-            f"/model/{namespace}/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry",
-            f"/model/{namespace}/odometry_with_covariance@nav_msgs/msg/Odometry@gz.msgs.OdometryWithCovariance",
-            f"/model/{namespace}/pose@geometry_msgs/msg/PoseArray@gz.msgs.Pose_V",
-            f"/model/{namespace}/imu@sensor_msgs/msg/Imu@gz.msgs.IMU",
-            f"/model/{namespace}/magnetometer@sensor_msgs/msg/MagneticField@gz.msgs.Magnetometer",
-            f"/model/{namespace}/camera/image_raw@sensor_msgs/msg/Image@gz.msgs.Image",
-            f"/model/{namespace}/camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo",
-        ]
-    )
-
-    bluerov2_heavy_bridge = Node(
-        package="ros_gz_bridge",
-        executable="parameter_bridge",
-        arguments=bluerov2_heavy_arguments,
-        output="screen",
-    )
-
-    return [bluerov2_heavy_bridge]
-
-
-def generate_launch_description():
-    args = [
-        DeclareLaunchArgument(
-            "namespace",
-            default_value="",
-            description="Namespace",
-        ),
-    ]
-
-    return LaunchDescription(args + [OpaqueFunction(function=launch_setup)])
diff --git a/models/dave_robot_models/config/glider_slocum/ros_gz_bridge.py b/models/dave_robot_models/config/glider_slocum/robot_config.py
similarity index 100%
rename from models/dave_robot_models/config/glider_slocum/ros_gz_bridge.py
rename to models/dave_robot_models/config/glider_slocum/robot_config.py
diff --git a/models/dave_robot_models/config/rexrov/ros_gz_bridge.py b/models/dave_robot_models/config/rexrov/robot_config.py
similarity index 100%
rename from models/dave_robot_models/config/rexrov/ros_gz_bridge.py
rename to models/dave_robot_models/config/rexrov/robot_config.py
diff --git a/models/dave_robot_models/description/bluerov2_heavy/model.sdf b/models/dave_robot_models/description/bluerov2_heavy/model.sdf
index f4463fae..a8a62ddf 100644
--- a/models/dave_robot_models/description/bluerov2_heavy/model.sdf
+++ b/models/dave_robot_models/description/bluerov2_heavy/model.sdf
@@ -78,7 +78,7 @@
         <always_on>true</always_on>
         <update_rate>10</update_rate>
         <visualize>true</visualize>
-        <topic>/model/bluerov2/camera/image_raw</topic>
+        <topic>/model/bluerov2_heavy/camera/image_raw</topic>
       </sensor>
     </link>
 
diff --git a/models/dave_robot_models/launch/upload_robot.launch.py b/models/dave_robot_models/launch/upload_robot.launch.py
index fa505185..b48b1b4b 100755
--- a/models/dave_robot_models/launch/upload_robot.launch.py
+++ b/models/dave_robot_models/launch/upload_robot.launch.py
@@ -106,7 +106,7 @@ def generate_launch_description():
         ],
         output="both",
         condition=IfCondition(use_ned_frame),
-        parameters=[{"use_sim_time_time": use_sim_time}],
+        parameters=[{"use_sim_time": use_sim_time}],
     )
 
     gz_spawner = Node(
@@ -132,13 +132,13 @@ def generate_launch_description():
         ],
         output="both",
         condition=IfCondition(gui),
-        parameters=[{"use_sim_time_time": use_sim_time}],
+        parameters=[{"use_sim_time": use_sim_time}],
     )
 
     nodes = [tf2_spawner, gz_spawner]
 
-    # Include ros_gz_bridge.py based on the model name
-    ros_gz_bridge = IncludeLaunchDescription(
+    # Include robot_config.py based on the model name
+    robot_config = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             [
                 PathJoinSubstitution(
@@ -146,7 +146,7 @@ def generate_launch_description():
                         FindPackageShare("dave_robot_models"),
                         "config",
                         namespace,
-                        "ros_gz_bridge.py",
+                        "robot_config.py",
                     ]
                 )
             ]
@@ -156,7 +156,7 @@ def generate_launch_description():
         }.items(),
     )
 
-    include = [ros_gz_bridge]
+    include = [robot_config]
 
     event_handlers = [
         RegisterEventHandler(

From 100c71af2e0b24a2b69dcbf76c92b9c0a879bb41 Mon Sep 17 00:00:00 2001
From: Rakesh Vivekanandan <rakeshvivek97@gmail.com>
Date: Thu, 19 Sep 2024 11:43:01 +0530
Subject: [PATCH 05/11] wip

---
 .../config/bluerov2/robot_config.py           | 46 +++++++++----------
 1 file changed, 23 insertions(+), 23 deletions(-)

diff --git a/models/dave_robot_models/config/bluerov2/robot_config.py b/models/dave_robot_models/config/bluerov2/robot_config.py
index efab4819..e6e91b3a 100644
--- a/models/dave_robot_models/config/bluerov2/robot_config.py
+++ b/models/dave_robot_models/config/bluerov2/robot_config.py
@@ -66,29 +66,29 @@ def launch_setup(context, *args, **kwargs):
 
     processes = [ardusub_process]
 
-    ardusub_manager_file = LaunchConfiguration("ardusub_manager_file")
-
-    # Include the ardusub_manager launch file
-    ardusub_manager = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            [
-                PathJoinSubstitution(
-                    [
-                        FindPackageShare("ardusub_manager"),
-                        "launch",
-                        "ardusub_manager.launch.py",
-                    ]
-                )
-            ]
-        ),
-        launch_arguments={
-            "ardusub_manager_file": ardusub_manager_file,
-        }.items(),
-    )
-
-    includes = [ardusub_manager]
-
-    return nodes + processes + includes
+    # ardusub_manager_file = LaunchConfiguration("ardusub_manager_file")
+
+    # # Include the ardusub_manager launch file
+    # ardusub_manager = IncludeLaunchDescription(
+    #     PythonLaunchDescriptionSource(
+    #         [
+    #             PathJoinSubstitution(
+    #                 [
+    #                     FindPackageShare("ardusub_manager"),
+    #                     "launch",
+    #                     "ardusub_manager.launch.py",
+    #                 ]
+    #             )
+    #         ]
+    #     ),
+    #     launch_arguments={
+    #         "ardusub_manager_file": ardusub_manager_file,
+    #     }.items(),
+    # )
+
+    # includes = [ardusub_manager]
+
+    return nodes + processes
 
 
 def generate_launch_description():

From 98b39e0f4848b72b24e59d3e27333bde723e6c72 Mon Sep 17 00:00:00 2001
From: Rakesh Vivekanandan <rakeshvivek97@gmail.com>
Date: Thu, 19 Sep 2024 11:45:27 +0530
Subject: [PATCH 06/11] commenting out ardusub_manager

---
 .../config/bluerov2_heavy/robot_config.py     | 46 +++++++++----------
 1 file changed, 23 insertions(+), 23 deletions(-)

diff --git a/models/dave_robot_models/config/bluerov2_heavy/robot_config.py b/models/dave_robot_models/config/bluerov2_heavy/robot_config.py
index 74f6e23e..77d224fc 100644
--- a/models/dave_robot_models/config/bluerov2_heavy/robot_config.py
+++ b/models/dave_robot_models/config/bluerov2_heavy/robot_config.py
@@ -66,29 +66,29 @@ def launch_setup(context, *args, **kwargs):
 
     processes = [ardusub_process]
 
-    ardusub_manager_file = LaunchConfiguration("ardusub_manager_file")
-
-    # Include the ardusub_manager launch file
-    ardusub_manager = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            [
-                PathJoinSubstitution(
-                    [
-                        FindPackageShare("ardusub_manager"),
-                        "launch",
-                        "ardusub_manager.launch.py",
-                    ]
-                )
-            ]
-        ),
-        launch_arguments={
-            "ardusub_manager_file": ardusub_manager_file,
-        }.items(),
-    )
-
-    includes = [ardusub_manager]
-
-    return nodes + processes + includes
+    # ardusub_manager_file = LaunchConfiguration("ardusub_manager_file")
+
+    # # Include the ardusub_manager launch file
+    # ardusub_manager = IncludeLaunchDescription(
+    #     PythonLaunchDescriptionSource(
+    #         [
+    #             PathJoinSubstitution(
+    #                 [
+    #                     FindPackageShare("ardusub_manager"),
+    #                     "launch",
+    #                     "ardusub_manager.launch.py",
+    #                 ]
+    #             )
+    #         ]
+    #     ),
+    #     launch_arguments={
+    #         "ardusub_manager_file": ardusub_manager_file,
+    #     }.items(),
+    # )
+
+    # includes = [ardusub_manager]
+
+    return nodes + processes
 
 
 def generate_launch_description():

From b933ee0bcdcd5fed9e11ccd2f656abe94fc572c6 Mon Sep 17 00:00:00 2001
From: Rakesh Vivekanandan <rakeshvivek97@gmail.com>
Date: Fri, 4 Oct 2024 13:47:02 -0700
Subject: [PATCH 07/11] modified ardusub process to use -M gazebo instead of
 JSON

---
 models/dave_robot_models/config/bluerov2/robot_config.py       | 2 +-
 models/dave_robot_models/config/bluerov2_heavy/robot_config.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/models/dave_robot_models/config/bluerov2/robot_config.py b/models/dave_robot_models/config/bluerov2/robot_config.py
index e6e91b3a..93234016 100644
--- a/models/dave_robot_models/config/bluerov2/robot_config.py
+++ b/models/dave_robot_models/config/bluerov2/robot_config.py
@@ -57,7 +57,7 @@ def launch_setup(context, *args, **kwargs):
     ardusub_params = LaunchConfiguration("ardusub_params").perform(context)
 
     ardusub_cmd = [
-        "ardusub -S -w -M JSON --defaults "
+        "ardusub -S -w -M gazebo --defaults "
         + ardusub_params
         + " -IO --home 44.65870,-124.06556,0.0,270.0"
     ]
diff --git a/models/dave_robot_models/config/bluerov2_heavy/robot_config.py b/models/dave_robot_models/config/bluerov2_heavy/robot_config.py
index 77d224fc..e5a9ffd5 100644
--- a/models/dave_robot_models/config/bluerov2_heavy/robot_config.py
+++ b/models/dave_robot_models/config/bluerov2_heavy/robot_config.py
@@ -57,7 +57,7 @@ def launch_setup(context, *args, **kwargs):
     ardusub_params = LaunchConfiguration("ardusub_params").perform(context)
 
     ardusub_cmd = [
-        "ardusub -S -w -M JSON --defaults "
+        "ardusub -S -w -M gazebo --defaults "
         + ardusub_params
         + " -IO --home 44.65870,-124.06556,0.0,270.0"
     ]

From 9a07f9c02e3bd1b890ad2ec38f9a271770656d13 Mon Sep 17 00:00:00 2001
From: Rakesh Vivekanandan <rakeshvivek97@gmail.com>
Date: Fri, 4 Oct 2024 14:44:54 -0700
Subject: [PATCH 08/11] added underwater_camera plugin to the robots

---
 .../description/bluerov2/model.sdf            | 27 +++++++---
 .../description/bluerov2_heavy/model.sdf      | 27 +++++++---
 .../description/rexrov/model.sdf              | 54 +++++++++++++++++++
 3 files changed, 92 insertions(+), 16 deletions(-)

diff --git a/models/dave_robot_models/description/bluerov2/model.sdf b/models/dave_robot_models/description/bluerov2/model.sdf
index a6981ad8..3e43657b 100644
--- a/models/dave_robot_models/description/bluerov2/model.sdf
+++ b/models/dave_robot_models/description/bluerov2/model.sdf
@@ -63,22 +63,33 @@
           <izz>0.0001</izz>
         </inertia>
       </inertial>
-      <sensor name="camera" type="camera">
+      <sensor name="underwater_camera" type="rgbd_camera">
+        <update_rate>10</update_rate>
+        <visualize>true</visualize>
+        <always_on>1</always_on>
+        <topic>/model/bluerov2/camera</topic>
         <camera>
-          <horizontal_fov>1.0855</horizontal_fov>
+          <horizontal_fov>1.05</horizontal_fov>
           <image>
             <width>1920</width>
             <height>1080</height>
           </image>
           <clip>
-            <near>0.01</near>
-            <far>500</far>
+            <near>0.1</near>
+            <far>10.0</far>
           </clip>
         </camera>
-        <always_on>true</always_on>
-        <update_rate>10</update_rate>
-        <visualize>true</visualize>
-        <topic>/model/bluerov2/camera/image_raw</topic>
+        <plugin
+          filename="UnderwaterCamera"
+          name="dave_gz_sensor_plugins::UnderwaterCamera">
+          <attenuationR>0.8</attenuationR>
+          <attenuationG>0.5</attenuationG>
+          <attenuationB>0.2</attenuationB>
+          <!-- Murky Coastal Waters -->
+          <backgroundR>85</backgroundR>
+          <backgroundG>107</backgroundG>
+          <backgroundB>47</backgroundB>
+        </plugin>
       </sensor>
     </link>
 
diff --git a/models/dave_robot_models/description/bluerov2_heavy/model.sdf b/models/dave_robot_models/description/bluerov2_heavy/model.sdf
index a8a62ddf..a01f0714 100644
--- a/models/dave_robot_models/description/bluerov2_heavy/model.sdf
+++ b/models/dave_robot_models/description/bluerov2_heavy/model.sdf
@@ -63,22 +63,33 @@
           <izz>0.0001</izz>
         </inertia>
       </inertial>
-      <sensor name="camera" type="camera">
+      <sensor name="underwater_camera" type="rgbd_camera">
+        <update_rate>10</update_rate>
+        <visualize>true</visualize>
+        <always_on>1</always_on>
+        <topic>/model/bluerov2_heavy/camera</topic>
         <camera>
-          <horizontal_fov>1.0855</horizontal_fov>
+          <horizontal_fov>1.05</horizontal_fov>
           <image>
             <width>1920</width>
             <height>1080</height>
           </image>
           <clip>
-            <near>0.01</near>
-            <far>500</far>
+            <near>0.1</near>
+            <far>10.0</far>
           </clip>
         </camera>
-        <always_on>true</always_on>
-        <update_rate>10</update_rate>
-        <visualize>true</visualize>
-        <topic>/model/bluerov2_heavy/camera/image_raw</topic>
+        <plugin
+          filename="UnderwaterCamera"
+          name="dave_gz_sensor_plugins::UnderwaterCamera">
+          <attenuationR>0.8</attenuationR>
+          <attenuationG>0.5</attenuationG>
+          <attenuationB>0.2</attenuationB>
+          <!-- Murky Coastal Waters -->
+          <backgroundR>85</backgroundR>
+          <backgroundG>107</backgroundG>
+          <backgroundB>47</backgroundB>
+        </plugin>
       </sensor>
     </link>
 
diff --git a/models/dave_robot_models/description/rexrov/model.sdf b/models/dave_robot_models/description/rexrov/model.sdf
index 4d383d2c..57f82873 100644
--- a/models/dave_robot_models/description/rexrov/model.sdf
+++ b/models/dave_robot_models/description/rexrov/model.sdf
@@ -66,6 +66,60 @@
       </collision>
     </link>
 
+    <link name="camera_link">
+      <inertial>
+        <pose>1.34 0 0.75 0 0 0</pose>
+        <mass>0.1</mass>
+        <inertia>
+          <ixx>0.000166667</ixx>
+          <iyy>0.000166667</iyy>
+          <izz>0.000166667</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.1 0.1 0.1</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.1 0.1 0.1</size>
+          </box>
+        </geometry>
+      </visual>
+      <sensor name="underwater_camera" type="rgbd_camera">
+        <update_rate>10</update_rate>
+        <visualize>true</visualize>
+        <always_on>1</always_on>
+        <topic>/model/rexrox/camera</topic>
+        <camera>
+          <horizontal_fov>1.05</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1080</height>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>10.0</far>
+          </clip>
+        </camera>
+        <plugin
+          filename="UnderwaterCamera"
+          name="dave_gz_sensor_plugins::UnderwaterCamera">
+          <attenuationR>0.8</attenuationR>
+          <attenuationG>0.5</attenuationG>
+          <attenuationB>0.2</attenuationB>
+          <!-- Murky Coastal Waters -->
+          <backgroundR>85</backgroundR>
+          <backgroundG>107</backgroundG>
+          <backgroundB>47</backgroundB>
+        </plugin>
+      </sensor>
+    </link>
+
     <link name="magnetometer_link">
       <pose>0 0 0 0 0 0</pose>
       <inertial>

From 055dd6e264c6f5c75982e9b6493c200b72bf26ca Mon Sep 17 00:00:00 2001
From: Rakesh Vivekanandan <rakeshvivek97@gmail.com>
Date: Fri, 4 Oct 2024 15:10:39 -0700
Subject: [PATCH 09/11] minor fixes to camera config

---
 .../dave_robot_models/config/bluerov2/robot_config.py  |  2 +-
 .../config/bluerov2_heavy/robot_config.py              |  2 +-
 models/dave_robot_models/config/rexrov/robot_config.py |  2 ++
 models/dave_robot_models/description/rexrov/model.sdf  | 10 ++++++++--
 4 files changed, 12 insertions(+), 4 deletions(-)

diff --git a/models/dave_robot_models/config/bluerov2/robot_config.py b/models/dave_robot_models/config/bluerov2/robot_config.py
index 93234016..1adce7d6 100644
--- a/models/dave_robot_models/config/bluerov2/robot_config.py
+++ b/models/dave_robot_models/config/bluerov2/robot_config.py
@@ -31,7 +31,7 @@ def launch_setup(context, *args, **kwargs):
             f"/model/{namespace}/pose@geometry_msgs/msg/PoseArray@gz.msgs.Pose_V",
             f"/model/{namespace}/imu@sensor_msgs/msg/Imu@gz.msgs.IMU",
             f"/model/{namespace}/magnetometer@sensor_msgs/msg/MagneticField@gz.msgs.Magnetometer",
-            f"/model/{namespace}/camera/image_raw@sensor_msgs/msg/Image@gz.msgs.Image",
+            f"/model/{namespace}/camera/image@sensor_msgs/msg/Image@gz.msgs.Image",
             f"/model/{namespace}/camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo",
         ]
     )
diff --git a/models/dave_robot_models/config/bluerov2_heavy/robot_config.py b/models/dave_robot_models/config/bluerov2_heavy/robot_config.py
index e5a9ffd5..e87c58eb 100644
--- a/models/dave_robot_models/config/bluerov2_heavy/robot_config.py
+++ b/models/dave_robot_models/config/bluerov2_heavy/robot_config.py
@@ -31,7 +31,7 @@ def launch_setup(context, *args, **kwargs):
             f"/model/{namespace}/pose@geometry_msgs/msg/PoseArray@gz.msgs.Pose_V",
             f"/model/{namespace}/imu@sensor_msgs/msg/Imu@gz.msgs.IMU",
             f"/model/{namespace}/magnetometer@sensor_msgs/msg/MagneticField@gz.msgs.Magnetometer",
-            f"/model/{namespace}/camera/image_raw@sensor_msgs/msg/Image@gz.msgs.Image",
+            f"/model/{namespace}/camera/image@sensor_msgs/msg/Image@gz.msgs.Image",
             f"/model/{namespace}/camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo",
         ]
     )
diff --git a/models/dave_robot_models/config/rexrov/robot_config.py b/models/dave_robot_models/config/rexrov/robot_config.py
index 7ba5fed4..b8e327cb 100644
--- a/models/dave_robot_models/config/rexrov/robot_config.py
+++ b/models/dave_robot_models/config/rexrov/robot_config.py
@@ -24,6 +24,8 @@ def launch_setup(context, *args, **kwargs):
             f"/model/{namespace}/pose@geometry_msgs/msg/PoseArray@gz.msgs.Pose_V",
             f"/model/{namespace}/imu@sensor_msgs/msg/Imu@gz.msgs.IMU",
             f"/model/{namespace}/magnetometer@sensor_msgs/msg/MagneticField@gz.msgs.Magnetometer",
+            f"/model/{namespace}/camera/image@sensor_msgs/msg/Image@gz.msgs.Image",
+            f"/model/{namespace}/camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo",
         ]
     )
 
diff --git a/models/dave_robot_models/description/rexrov/model.sdf b/models/dave_robot_models/description/rexrov/model.sdf
index 57f82873..c0737652 100644
--- a/models/dave_robot_models/description/rexrov/model.sdf
+++ b/models/dave_robot_models/description/rexrov/model.sdf
@@ -67,8 +67,8 @@
     </link>
 
     <link name="camera_link">
+      <pose>1.33 0 -0.74 0 0 0</pose>
       <inertial>
-        <pose>1.34 0 0.75 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.000166667</ixx>
@@ -94,7 +94,7 @@
         <update_rate>10</update_rate>
         <visualize>true</visualize>
         <always_on>1</always_on>
-        <topic>/model/rexrox/camera</topic>
+        <topic>/model/rexrov/camera</topic>
         <camera>
           <horizontal_fov>1.05</horizontal_fov>
           <image>
@@ -120,6 +120,12 @@
       </sensor>
     </link>
 
+    <joint name="camera_joint" type="fixed">
+      <pose>1.33 0 -0.74 0 0 0.0</pose>
+      <parent>base_link</parent>
+      <child>camera_link</child>
+    </joint>
+
     <link name="magnetometer_link">
       <pose>0 0 0 0 0 0</pose>
       <inertial>

From 870a1dec974667e3d002f952c18723ef15323180 Mon Sep 17 00:00:00 2001
From: Rakesh Vivekanandan <rakeshvivek97@gmail.com>
Date: Fri, 11 Oct 2024 12:31:16 -0700
Subject: [PATCH 10/11] removed ardusub_manager deps

---
 extras/repos/dave.jazzy.repos                 |  4 --
 .../config/ardusub/ardusub_manager.yaml       |  7 ----
 .../config/bluerov2/robot_config.py           | 38 +------------------
 .../config/bluerov2_heavy/robot_config.py     | 38 +------------------
 .../config/{ardusub => mavros}/mavros.yaml    |  0
 5 files changed, 2 insertions(+), 85 deletions(-)
 delete mode 100644 models/dave_robot_models/config/ardusub/ardusub_manager.yaml
 rename models/dave_robot_models/config/{ardusub => mavros}/mavros.yaml (100%)

diff --git a/extras/repos/dave.jazzy.repos b/extras/repos/dave.jazzy.repos
index 9a3f650f..575954c9 100644
--- a/extras/repos/dave.jazzy.repos
+++ b/extras/repos/dave.jazzy.repos
@@ -14,7 +14,3 @@ repositories:
     url: https://github.com/IOES-Lab/dave.git
     version: ros2
 
-  ardusub_driver:
-    type: git
-    url: https://github.com/Robotic-Decision-Making-Lab/ardusub_driver.git
-    version: main
diff --git a/models/dave_robot_models/config/ardusub/ardusub_manager.yaml b/models/dave_robot_models/config/ardusub/ardusub_manager.yaml
deleted file mode 100644
index b1cae256..00000000
--- a/models/dave_robot_models/config/ardusub/ardusub_manager.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-ardusub_manager:
-  ros__parameters:
-    message_intervals:
-      ids: [31, 32]
-      rates: [50.0, 50.0]
-    set_ekf_origin: true
-    publish_tf: false
diff --git a/models/dave_robot_models/config/bluerov2/robot_config.py b/models/dave_robot_models/config/bluerov2/robot_config.py
index 1adce7d6..64c0d7af 100644
--- a/models/dave_robot_models/config/bluerov2/robot_config.py
+++ b/models/dave_robot_models/config/bluerov2/robot_config.py
@@ -3,12 +3,10 @@
     DeclareLaunchArgument,
     OpaqueFunction,
     ExecuteProcess,
-    IncludeLaunchDescription,
 )
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
-from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 
 def launch_setup(context, *args, **kwargs):
@@ -66,28 +64,6 @@ def launch_setup(context, *args, **kwargs):
 
     processes = [ardusub_process]
 
-    # ardusub_manager_file = LaunchConfiguration("ardusub_manager_file")
-
-    # # Include the ardusub_manager launch file
-    # ardusub_manager = IncludeLaunchDescription(
-    #     PythonLaunchDescriptionSource(
-    #         [
-    #             PathJoinSubstitution(
-    #                 [
-    #                     FindPackageShare("ardusub_manager"),
-    #                     "launch",
-    #                     "ardusub_manager.launch.py",
-    #                 ]
-    #             )
-    #         ]
-    #     ),
-    #     launch_arguments={
-    #         "ardusub_manager_file": ardusub_manager_file,
-    #     }.items(),
-    # )
-
-    # includes = [ardusub_manager]
-
     return nodes + processes
 
 
@@ -101,7 +77,7 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "mavros_file",
             default_value=PathJoinSubstitution(
-                [FindPackageShare("dave_robot_models"), "config", "ardusub", "mavros.yaml"]
+                [FindPackageShare("dave_robot_models"), "config", "mavros", "mavros.yaml"]
             ),
             description="Path to mavros.yaml file",
         ),
@@ -112,18 +88,6 @@ def generate_launch_description():
             ),
             description="Path to ardusub.parm file",
         ),
-        DeclareLaunchArgument(
-            "ardusub_manager_file",
-            default_value=PathJoinSubstitution(
-                [
-                    FindPackageShare("dave_robot_models"),
-                    "config",
-                    "ardusub",
-                    "ardusub_manager.yaml",
-                ]
-            ),
-            description="Path to ardusub_manager.yaml file",
-        ),
     ]
 
     return LaunchDescription(args + [OpaqueFunction(function=launch_setup)])
diff --git a/models/dave_robot_models/config/bluerov2_heavy/robot_config.py b/models/dave_robot_models/config/bluerov2_heavy/robot_config.py
index e87c58eb..28749b9c 100644
--- a/models/dave_robot_models/config/bluerov2_heavy/robot_config.py
+++ b/models/dave_robot_models/config/bluerov2_heavy/robot_config.py
@@ -3,12 +3,10 @@
     DeclareLaunchArgument,
     OpaqueFunction,
     ExecuteProcess,
-    IncludeLaunchDescription,
 )
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
-from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 
 def launch_setup(context, *args, **kwargs):
@@ -66,28 +64,6 @@ def launch_setup(context, *args, **kwargs):
 
     processes = [ardusub_process]
 
-    # ardusub_manager_file = LaunchConfiguration("ardusub_manager_file")
-
-    # # Include the ardusub_manager launch file
-    # ardusub_manager = IncludeLaunchDescription(
-    #     PythonLaunchDescriptionSource(
-    #         [
-    #             PathJoinSubstitution(
-    #                 [
-    #                     FindPackageShare("ardusub_manager"),
-    #                     "launch",
-    #                     "ardusub_manager.launch.py",
-    #                 ]
-    #             )
-    #         ]
-    #     ),
-    #     launch_arguments={
-    #         "ardusub_manager_file": ardusub_manager_file,
-    #     }.items(),
-    # )
-
-    # includes = [ardusub_manager]
-
     return nodes + processes
 
 
@@ -101,7 +77,7 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "mavros_file",
             default_value=PathJoinSubstitution(
-                [FindPackageShare("dave_robot_models"), "config", "ardusub", "mavros.yaml"]
+                [FindPackageShare("dave_robot_models"), "config", "mavros", "mavros.yaml"]
             ),
             description="Path to mavros.yaml file",
         ),
@@ -112,18 +88,6 @@ def generate_launch_description():
             ),
             description="Path to ardusub.parm file",
         ),
-        DeclareLaunchArgument(
-            "ardusub_manager_file",
-            default_value=PathJoinSubstitution(
-                [
-                    FindPackageShare("dave_robot_models"),
-                    "config",
-                    "ardusub",
-                    "ardusub_manager.yaml",
-                ]
-            ),
-            description="Path to ardusub_manager.yaml file",
-        ),
     ]
 
     return LaunchDescription(args + [OpaqueFunction(function=launch_setup)])
diff --git a/models/dave_robot_models/config/ardusub/mavros.yaml b/models/dave_robot_models/config/mavros/mavros.yaml
similarity index 100%
rename from models/dave_robot_models/config/ardusub/mavros.yaml
rename to models/dave_robot_models/config/mavros/mavros.yaml

From 33e206816a3902313e7b48c70cf64ea5e87d5433 Mon Sep 17 00:00:00 2001
From: Rakesh Vivekanandan <rakeshvivek97@gmail.com>
Date: Tue, 22 Oct 2024 15:19:00 -0700
Subject: [PATCH 11/11] Added OGRE2 render engine to sensor plugin

---
 models/dave_worlds/worlds/dave_Santorini.world                 | 3 ++-
 models/dave_worlds/worlds/dave_bimanual_example.world          | 3 ++-
 models/dave_worlds/worlds/dave_electrical_mating.world         | 3 ++-
 models/dave_worlds/worlds/dave_graded_seabed.world             | 3 ++-
 models/dave_worlds/worlds/dave_integrated.world                | 3 ++-
 models/dave_worlds/worlds/dave_ocean_models.world              | 3 ++-
 models/dave_worlds/worlds/dave_ocean_waves.world               | 3 ++-
 models/dave_worlds/worlds/dave_ocean_waves_mossy_ground.world  | 3 ++-
 .../worlds/dave_ocean_waves_transient_current.world            | 3 ++-
 models/dave_worlds/worlds/dave_plug_and_socket.world           | 3 ++-
 models/dave_worlds/worlds/dvl_world.world                      | 3 ++-
 11 files changed, 22 insertions(+), 11 deletions(-)

diff --git a/models/dave_worlds/worlds/dave_Santorini.world b/models/dave_worlds/worlds/dave_Santorini.world
index f6704ceb..a6046aec 100644
--- a/models/dave_worlds/worlds/dave_Santorini.world
+++ b/models/dave_worlds/worlds/dave_Santorini.world
@@ -46,7 +46,8 @@
     <plugin
       filename="gz-sim-sensors-system"
       name="gz::sim::systems::Sensors">
-      </plugin>
+      <render_engine>ogre2</render_engine>
+    </plugin>
     <plugin
       filename="gz-sim-dvl-system"
       name="gz::sim::systems::DopplerVelocityLogSystem">
diff --git a/models/dave_worlds/worlds/dave_bimanual_example.world b/models/dave_worlds/worlds/dave_bimanual_example.world
index b6cc0cc2..7640c8a9 100644
--- a/models/dave_worlds/worlds/dave_bimanual_example.world
+++ b/models/dave_worlds/worlds/dave_bimanual_example.world
@@ -39,7 +39,8 @@
 		<plugin
 			filename="gz-sim-sensors-system"
 			name="gz::sim::systems::Sensors">
-			</plugin>
+			<render_engine>ogre2</render_engine>
+		</plugin>
 		<plugin
 			filename="gz-sim-dvl-system"
 			name="gz::sim::systems::DopplerVelocityLogSystem">
diff --git a/models/dave_worlds/worlds/dave_electrical_mating.world b/models/dave_worlds/worlds/dave_electrical_mating.world
index b724b5a2..61c0668e 100644
--- a/models/dave_worlds/worlds/dave_electrical_mating.world
+++ b/models/dave_worlds/worlds/dave_electrical_mating.world
@@ -37,7 +37,8 @@
     <plugin
       filename="gz-sim-sensors-system"
       name="gz::sim::systems::Sensors">
-      </plugin>
+      <render_engine>ogre2</render_engine>
+    </plugin>
     <plugin
       filename="gz-sim-dvl-system"
       name="gz::sim::systems::DopplerVelocityLogSystem">
diff --git a/models/dave_worlds/worlds/dave_graded_seabed.world b/models/dave_worlds/worlds/dave_graded_seabed.world
index 557573bb..0dac63a8 100644
--- a/models/dave_worlds/worlds/dave_graded_seabed.world
+++ b/models/dave_worlds/worlds/dave_graded_seabed.world
@@ -44,7 +44,8 @@
     <plugin
       filename="gz-sim-sensors-system"
       name="gz::sim::systems::Sensors">
-      </plugin>
+      <render_engine>ogre2</render_engine>
+    </plugin>
     <plugin
       filename="gz-sim-dvl-system"
       name="gz::sim::systems::DopplerVelocityLogSystem">
diff --git a/models/dave_worlds/worlds/dave_integrated.world b/models/dave_worlds/worlds/dave_integrated.world
index c4fccf98..aad9ac37 100644
--- a/models/dave_worlds/worlds/dave_integrated.world
+++ b/models/dave_worlds/worlds/dave_integrated.world
@@ -39,7 +39,8 @@
     <plugin
       filename="gz-sim-sensors-system"
       name="gz::sim::systems::Sensors">
-      </plugin>
+      <render_engine>ogre2</render_engine>
+    </plugin>
     <plugin
       filename="gz-sim-dvl-system"
       name="gz::sim::systems::DopplerVelocityLogSystem">
diff --git a/models/dave_worlds/worlds/dave_ocean_models.world b/models/dave_worlds/worlds/dave_ocean_models.world
index 724914e7..2225c55c 100644
--- a/models/dave_worlds/worlds/dave_ocean_models.world
+++ b/models/dave_worlds/worlds/dave_ocean_models.world
@@ -46,7 +46,8 @@
     <plugin
       filename="gz-sim-sensors-system"
       name="gz::sim::systems::Sensors">
-      </plugin>
+      <render_engine>ogre2</render_engine>
+    </plugin>
     <plugin
       filename="gz-sim-dvl-system"
       name="gz::sim::systems::DopplerVelocityLogSystem">
diff --git a/models/dave_worlds/worlds/dave_ocean_waves.world b/models/dave_worlds/worlds/dave_ocean_waves.world
index e1038384..fe8f8c86 100644
--- a/models/dave_worlds/worlds/dave_ocean_waves.world
+++ b/models/dave_worlds/worlds/dave_ocean_waves.world
@@ -46,7 +46,8 @@
     <plugin
       filename="gz-sim-sensors-system"
       name="gz::sim::systems::Sensors">
-      </plugin>
+      <render_engine>ogre2</render_engine>
+    </plugin>
     <plugin
       filename="gz-sim-dvl-system"
       name="gz::sim::systems::DopplerVelocityLogSystem">
diff --git a/models/dave_worlds/worlds/dave_ocean_waves_mossy_ground.world b/models/dave_worlds/worlds/dave_ocean_waves_mossy_ground.world
index 8bccf334..7b6e2b84 100644
--- a/models/dave_worlds/worlds/dave_ocean_waves_mossy_ground.world
+++ b/models/dave_worlds/worlds/dave_ocean_waves_mossy_ground.world
@@ -37,7 +37,8 @@
     <plugin
       filename="gz-sim-sensors-system"
       name="gz::sim::systems::Sensors">
-      </plugin>
+      <render_engine>ogre2</render_engine>
+    </plugin>
     <plugin
       filename="gz-sim-dvl-system"
       name="gz::sim::systems::DopplerVelocityLogSystem">
diff --git a/models/dave_worlds/worlds/dave_ocean_waves_transient_current.world b/models/dave_worlds/worlds/dave_ocean_waves_transient_current.world
index 215c309b..a3afef96 100644
--- a/models/dave_worlds/worlds/dave_ocean_waves_transient_current.world
+++ b/models/dave_worlds/worlds/dave_ocean_waves_transient_current.world
@@ -46,7 +46,8 @@
 		<plugin
 			filename="gz-sim-sensors-system"
 			name="gz::sim::systems::Sensors">
-    	</plugin>
+      <render_engine>ogre2</render_engine>
+    </plugin>
 		<plugin
 			filename="gz-sim-dvl-system"
 			name="gz::sim::systems::DopplerVelocityLogSystem">
diff --git a/models/dave_worlds/worlds/dave_plug_and_socket.world b/models/dave_worlds/worlds/dave_plug_and_socket.world
index c380a757..6a6a8fd4 100644
--- a/models/dave_worlds/worlds/dave_plug_and_socket.world
+++ b/models/dave_worlds/worlds/dave_plug_and_socket.world
@@ -37,7 +37,8 @@
     <plugin
       filename="gz-sim-sensors-system"
       name="gz::sim::systems::Sensors">
-      </plugin>
+      <render_engine>ogre2</render_engine>
+    </plugin>
     <plugin
       filename="gz-sim-dvl-system"
       name="gz::sim::systems::DopplerVelocityLogSystem">
diff --git a/models/dave_worlds/worlds/dvl_world.world b/models/dave_worlds/worlds/dvl_world.world
index 4a0b7937..bf36b12c 100644
--- a/models/dave_worlds/worlds/dvl_world.world
+++ b/models/dave_worlds/worlds/dvl_world.world
@@ -45,7 +45,8 @@
 		<plugin
 			filename="gz-sim-sensors-system"
 			name="gz::sim::systems::Sensors">
-    	</plugin>
+			<render_engine>ogre2</render_engine>
+		</plugin>
 		<plugin
 			filename="gz-sim-dvl-system"
 			name="gz::sim::systems::DopplerVelocityLogSystem">