The purpose of this tutorial sequence is to demonstrate how to create a custom WAM-V thruster and component configuration. This involves writing a user-generated thruster YAML file and a user-generated component YAML file, and then running a script that will generate a custom WAM-V URDF file with the specified thrusters and components. This WAM-V URDF file can then be passed in as a parameter to the VRX simulation launch files.

All tutorials in this sequence assume you have already built and sourced the VRX workspace as described in the installation_tutorial tutorial.

• Using the Default WAM-V Configuration
• Creating an "Empty" WAM-V
• generate_wamv.launch.py
• Customizing the Thruster Configuration
• Customizing WAM-V Components

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