Instructions for ROV mode

Hi!

I have been trying to figure out how the ROV mode is supposed to be used from reading the code.
My best guess is that it should be possible to connect something like qgroundcontrol with an xbox controller in parallel to the ROS2 system and have that take over when the manager is in ROV mode. Is that correct, or have I misunderstood something?

I think it would be nice if a short explanation of how ROV mode is intended to be used could be added to a README.

Yes, that's how I do it. I use QGC mainly to provide the joystick driver. QGC connects to mavros:

orca4/orca_bringup/params/sim_mavros_params.yaml

Line 35 in e12c4e1

gcs_url: "udp://@localhost:14550"

I'm happy for PRs!