Now let's add a custom thruster configuration to the WAM-V.

• In the my_wamv directory you created, use a text editor to create a file called example_thruster_config.yaml, and add the following contents:

engine:
  - prefix: "left"
    position: "-2.373776 1.027135 0.318237"
    orientation: "0.0 0.0 0.0"
  - prefix: "right"
    position: "-2.373776 -1.027135 0.318237"
    orientation: "0.0 0.0 0.0"
  - prefix: "middle"
    position: "0 0 0.318237"
    orientation: "0.0 0.0 0.0"

This file specifies three thrusters (left, right and middle), arranged in a "T" thruster configuration. Later, you can edit this file to customize further your WAM-V.

• Run the script to generate your WAM-V's URDF with these newly specified thrusters and components.

ros2 launch vrx_gazebo generate_wamv.launch.py component_yaml:=`pwd`/empty_component_config.yaml thruster_yaml:=`pwd`/example_thruster_config.yaml wamv_target:=`pwd`/wamv_target.urdf wamv_locked:=False

• The WAM-V should now have three thrusters: