[FEATURE]: Update BlueROV simulated thruster directions to match hardware thrusters

[evan-palmer]

Feature Type

Changing existing functionality in the BlueROV2 driver

Problem Description

The current thruster response to PWM signals in simulation does not accurately represent the behavior on hardware. Specifically, the reversed thrusters spin in an opposite direction when a >1500 PWM signal is sent. However, on the vehicle, all thrusters generate forward thrust with >1500 PWM.

Feature Description

Update the thruster behavior in simulation to represent the behavior as that seen on hardware. The associated TCM matrices should be updated as well as identified during hardware experimentation.

Alternative Solutions

N/A

Additional Context

No response