Nature of the values given to /BlueRov2/thruster_command for gazebo

[GabrielWellander]

Hello,
I am currently trying to understand what kind of value the thruster_command accepts.
Is it PWM, voltage, force, thrust force or something else?
I saw in the BlueRov2_thrusters.urdf that the minimum value is -40.18 and maximal 49.98 .
Are those the values that bounds the values put in thruster_command?
Secondly, when I give the thruster_command an effort, I can see that according to the rostopic BlueRov2/thruster_use it is seen as position.
Can someone help me understand this?
Thanks in advance !

[GabrielWellander]

I saw that there is a link in the README file to the conversion from thrustforce(kgf) to PWM .
According to the graph in the Google Colab sheet, the thrustforce is limited between -4 to 5.
The PWM between 1100 and 1900 both according to the colab and the thruster data on the Bluerobotics website.
But why are the thrusters in the BlueRov2_thrusters capped between the limits thrustforce*10 ?

As for now I have published directly to /BlueRov2/thruster_command in my code when using the gazebo.launch option.
I have published thrustforce as effort in to the system but will switch to PWM.
Is there anything I have missed?