Gazebo Simulation of Kingfisher/Heron USV
Currently we maintain separate development branches for ROS releases. The major differences between the Indigo and Kinetic branches are...
- The xacro files for Indigo define parameters in the root xacro file, as opposed to Kinetic defining parameters in sub-xacro calls.
- For worlds and models that have floating things (buoys, etc.), in Indigo (Gazebo 2) we use a port of the buoyancy plugin that is backported for Gazebo 2. In Kinetic we should use the standard buoyancy plugin, but still needs to be implemented.