I am working on a project trying to implement the BlueROV2 into Gazebo. I cloned a repository from Fredvaz on GitHub that has the model of the ROV and after adding some collision to it, it just sinks to the bottom of the map. There are some hydrodynamics linked to the ROV model, but obviously they are not accurate. An issue raised on the GitHub repository says that the hydrodynamics used are not accurate and need to be calculated for this specific ROV. I am wondering if anyone knows how to calculate these values or may have done so in the past for this model or if I am facing a different problem entirely. Any help is appreciated! Thank you.