Configuration

The BlueBoat needs no configuration: every slot the parts declare fills itself with its default. The vehicle config (blueboat_description/config/blueboat.yaml, or any file passed as config_file:=) states differences only.

Hull displacement

The boat floats on graded buoyancy acting on a declared displacement, not on the meshes: the config states box pontoons (hull_displacement: block: length, width, height, the pontoon positions x/y/z, and segments) which the Gazebo composition realizes as a dedicated displacement link. Splitting each pontoon into segments models a pitched waterplane, and the boat self settles to a draft of roughly mass / (water_density * 2 * length * width) (Buoyancy).

Payload

Everything else is payload: sensors and actuators fitted into slots, one config entry each. The fitted options and their topics live in Sensors and Actuators; the slots are:

Slot	Accepts	Default
`motor_port`, `motor_stbd`	`m200_weedless_prop_ccw`/`_cw`, `t200_prop_ccw`/`_cw`	the M200 weedless props
`flag`	`blueboat_flag`	`blueboat_flag`
`mast`	`blueboat_antenna_mast`	none
`payload`	`blueboat_payload_bracket`	none
`ping_mount`	`blueboat_ping_singlebeam_mount`	the bracket (which fits the Ping in its own `ping` slot)

Slot entries, free placements, ad hoc slots and topic overrides are described in the Configuration keys and walked through in Change the fitted parts; the instance key is of:, not on:. Mistakes fail the build or the launch with a message naming the problem.