Before we begin customizing the WAM-V, let's take a moment to examine the default configuration. The default WAM-V uses the H thruster configuration, and comes with three cameras, one laser, one ball shooter, one GPS, and one IMU.

To launch an example world using this configuration, run

ros2 launch vrx_gz competition.launch.py world:=sydney_regatta

This should launch the Sydney Regatta world and spawn a WAM-V with components and thrusters closely resembling what is shown here: