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You should use the fortress branch. Instead of cloning directly, run the ardupilot_gazebo.sh install script in the rov24 repo to install.
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Plugins and models for vehicle simulation in Gazebo Sim with ArduPilot SITL controllers
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CWRUbotix/rov-ardupilot-gazebo-fortress
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Plugins and models for vehicle simulation in Gazebo Sim with ArduPilot SITL controllers
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