James Jackson

Please, follow the instructions above (sorry, it looks like you responded before I finished my edits) and let me know what happens.

It is unlikely a problem with computational power. Gazebo will just throttle to less than real-time if you don't have enough compute. (Although, I suspect you'll be getting pretty close...

No, I don't get that error. I'll look into it

From a practical perspective, I'm pretty determined to continue breaking REP. Haha. The aerospace literature in general follows a NED convention. ROS's origins are in ground robots, which use ENU....

Let's publish the attitude to tf. I think that would be a nice and easy way to visualize the attitude.