Todo List

Member GPSSim::onOdom (const typename nav_msgs::Odometry::ConstPtr &msg)

Replace this with the available static transform publisher node

Member ImuSim::onOdom (const typename nav_msgs::Odometry::ConstPtr &msg)

Replace this with the available static transform publisher node

Member labust::simulation::DiverSim::stepJoints (double w, double hpan=0, double htilt=0)

Remove hard-coded positions and find index by name

Class labust::simulation::RBModel

Add allocation type and thruster modeling

Class labust::simulation::SimCore

Split into NavSts and Odom policy

Keep noise in the model or fully leave it up to sensor simulations ?

Remove commented SimInterface code.

Deprecated world coordinate publishing in favor of the LLNode in labust_navigation.

Member labust::simulation::SimCore::allocate ()

Refactor this function to be platform agnostic.