Describe process used to create SDF files

[nikhilhenry]

Hi there!

I just wanted to say how helpful this repo has been for my AUV project. I've been able to connect ArduSub and Gazebo with SITL and the underwater plugins, and I adapted a lot of the implementation for my own AUV model, which is looking great!

However, I’m running into issues with the moments of inertia, causing some unexpected behavior with my custom AUV. Could you share the steps you took to accurately model the BlueROV2 in Gazebo? I’d really appreciate any insights!

Thanks a lot!

[clydemcqueen]

The model assumes a constant mass density rectangular cuboid: https://en.wikipedia.org/wiki/List_of_moments_of_inertia