From 905f44044f6a75923ba556fc5f06e53bac9d08e0 Mon Sep 17 00:00:00 2001
From: yeseorizi <172019512+yeseorizi@users.noreply.github.com>
Date: Fri, 4 Sep 2026 14:08:55 +0900
Subject: [PATCH] Set explicit ArduSub simulation speedup

---
 models/dave_robot_models/config/bluerov2/robot_config.py        | 2 ++
 models/dave_robot_models/config/bluerov2_heavy/robot_config.py  | 2 ++
 .../config/bluerov2_heavy_multibeam_sonar/robot_config.py       | 2 ++
 3 files changed, 6 insertions(+)

diff --git a/models/dave_robot_models/config/bluerov2/robot_config.py b/models/dave_robot_models/config/bluerov2/robot_config.py
index 8555025e..210df5ff 100644
--- a/models/dave_robot_models/config/bluerov2/robot_config.py
+++ b/models/dave_robot_models/config/bluerov2/robot_config.py
@@ -78,6 +78,8 @@ def launch_setup(context, *args, **kwargs):
     ardusub_process = ExecuteProcess(
         cmd=[
             "ardusub",
+            "--speedup",
+            "1",
             "-w",
             "--model",
             ardusub_model,
diff --git a/models/dave_robot_models/config/bluerov2_heavy/robot_config.py b/models/dave_robot_models/config/bluerov2_heavy/robot_config.py
index fc4efff0..6a044ba3 100644
--- a/models/dave_robot_models/config/bluerov2_heavy/robot_config.py
+++ b/models/dave_robot_models/config/bluerov2_heavy/robot_config.py
@@ -144,6 +144,8 @@ def launch_setup(context, *args, **kwargs):
     ardusub_process = ExecuteProcess(
         cmd=[
             "ardusub",
+            "--speedup",
+            "1",
             "-w",
             "--model",
             ardusub_model,
diff --git a/models/dave_robot_models/config/bluerov2_heavy_multibeam_sonar/robot_config.py b/models/dave_robot_models/config/bluerov2_heavy_multibeam_sonar/robot_config.py
index 09a1d196..5ef40a36 100644
--- a/models/dave_robot_models/config/bluerov2_heavy_multibeam_sonar/robot_config.py
+++ b/models/dave_robot_models/config/bluerov2_heavy_multibeam_sonar/robot_config.py
@@ -138,6 +138,8 @@ def launch_setup(context, *args, **kwargs):
     ardusub_process = ExecuteProcess(
         cmd=[
             "ardusub",
+            "--speedup",
+            "1",
             "-w",
             "--model",
             ardusub_model,