

rexrov2_control

Link to the rexrov2 repository here

Description¶

Launch and configuration files to start controllers nodes from the uuv_trajectory_control package for the RexROV 2 vehicle.

Launch files¶

`start_sf_controller.launch`¶

Description

Starts the singulary-tree tracking controller node with the configurations for the RexROV 2 vehicle.

Example

roslaunch uuv_gazebo_worlds ocean_waves.launch

roslaunch rexrov2_description upload_rexrov2.launch

roslaunch rexrov2_control start_sf_controller.launch

Arguments

uuv_name (default: rexrov2): Namespace of the vehicle to be controller
record (default: false): Record ROS bag
gui_on (default: true)
use_ned_frame (default: true)
Kd (default: 1000.0,1000.0,1000.0,100.0,100.0,100.0)
lambda (default: 100.0)
c (default: 100.0)
teleop_on (default: false)
joy_id (default: 0)
axis_yaw (default: 0)
axis_x (default: 4)
axis_y (default: 3)
axis_z (default: 1)
model_params_file (default: $(find rexrov2_control)/config/model_params.yaml)
thruster_manager_output_dir (default: $(find rexrov2_control)/config)
thruster_manager_config_file (default: $(find rexrov2_control)/config/thruster_manager.yaml)
tam_file (default: $(find rexrov2_control)/config/TAM.yaml)

`start_velocity_control.launch`¶

Arguments

model_name (default: rexrov2)
uuv_name (default: $(arg model_name))
joy_id (default: 0)

`start_pd_grav_compensation_controller.launch`¶

Description

Starts the PD controller with compensation of restoring forces node with the configurations for the RexROV 2 vehicle.

Example

roslaunch uuv_gazebo_worlds ocean_waves.launch

roslaunch rexrov2_description upload_rexrov2.launch

roslaunch rexrov2_control start_pd_grav_compensation_controller.launch

Arguments

uuv_name (default: rexrov2): Namespace of the vehicle to be controller
record (default: false): Record ROS bag
gui_on (default: true): Start Gazebo client and RViz
use_ned_frame (default: false): If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
Kp (default: 1000,1000,1000,1000,1000,1000): Coefficients for the $K_p$ diagonal matrix
Kd (default: 100,100,100,100,100,100): Coefficients for the $K_d$ diagonal matrix
teleop_on (default: false): Start joystick teleop node
joy_id (default: 0): ID of the joystick device
axis_yaw (default: 0): Joystick mapping for yaw angle input
axis_x (default: 4): Joystick mapping for X component of velocity reference input
axis_y (default: 3): Joystick mapping for Y component of velocity reference input
axis_z (default: 1): Joystick mapping for Z component of velocity reference input
thruster_manager_output_dir (default: $(find rexrov2_control)/config): Output directory for the generated thruster manager
thruster_manager_config_file (default: $(find rexrov2_control)/config/thruster_manager.yaml): File storing the configuration of the thruster manager
tam_file (default: $(find rexrov2_control)/config/TAM.yaml): File storing the thruster allocation matrix
model_params_file (default: $(find rexrov2_control)/config/model_params.yaml): File storing the vehicle model parameters loaded by the controller

`start_mb_fl_controller.launch`¶

Description

Starts the model-based feedback linearization controller node with the configurations for the RexROV 2 vehicle. The controller's default parameters Kp, Kd and Ki
were optimized using SMAC.

Example

roslaunch uuv_gazebo_worlds ocean_waves.launch

roslaunch rexrov2_description upload_rexrov2.launch

roslaunch rexrov2_control start_mb_fl_controller.launch

Arguments

uuv_name (default: rexrov2)
record (default: false): Record ROS bag
gui_on (default: true)
use_ned_frame (default: false)
Kp (default: 7750.307,7750.307,7750.307,7430.825,7430.825,7430.825)
Kd (default: 8953.924,8953.924,8953.924,8267.137,8267.137,8267.137)
Ki (default: 9144.575,9144.575,9144.575,2095.077,2095.077,2095.077)
teleop_on (default: false)
joy_id (default: 0)
axis_yaw (default: 0)
axis_x (default: 4)
axis_y (default: 3)
axis_z (default: 1)
model_params_file (default: $(find rexrov2_control)/config/model_params.yaml)
thruster_manager_output_dir (default: $(find rexrov2_control)/config)
thruster_manager_config_file (default: $(find rexrov2_control)/config/thruster_manager.yaml)
tam_file (default: $(find rexrov2_control)/config/TAM.yaml)

`start_nmb_sm_controller.launch`¶

Description

Starts the non-model-based sliding mode controller node with the configurations for the RexROV 2 vehicle. The controller's default parameters K, Kd, Ki and slope were optimized using SMAC.

Example

roslaunch uuv_gazebo_worlds ocean_waves.launch

roslaunch rexrov2_description upload_rexrov2.launch

roslaunch rexrov2_control start_nmb_sm_controller.launch

Arguments

uuv_name (default: rexrov2): Namespace of the vehicle to be controller
record (default: false): Record ROS bag
gui_on (default: true): Start Gazebo client and RViz
use_ned_frame (default: false): If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
K (default: 5,5,5,5,5,5): Coefficients for the $K$ diagonal matrix
Kd (default: 4490.0,4490.0,4490.0,19541.395,19541.395,19541.395): Coefficients for the $K_d$ diagonal matrix
Ki (default: 0.1,0.1,0.1,0.476,0.476,0.476): Coefficients for the $K_i$ diagonal matrix
slope (default: 3.83,3.83,3.83,0.508,0.508,0.508): Coefficients for the $\alpha$ diagonal matrix
teleop_on (default: false): Start joystick teleop node
joy_id (default: 0): ID of the joystick device
axis_yaw (default: 0): Joystick mapping for yaw angle input
axis_x (default: 4): Joystick mapping for X component of velocity reference input
axis_y (default: 3): Joystick mapping for Y component of velocity reference input
axis_z (default: 1): Joystick mapping for Z component of velocity reference input
max_forward_speed (default: 0.5): Maximum forward speed in m/s
thruster_manager_output_dir (default: $(find rexrov2_control)/config): Output directory for the generated thruster manager
thruster_manager_config_file (default: $(find rexrov2_control)/config/thruster_manager.yaml): File storing the configuration of the thruster manager
tam_file (default: $(find rexrov2_control)/config/TAM.yaml): File storing the thruster allocation matrix

`start_thruster_manager.launch`¶

Description

Starts the thruster allocator node with the configuration for the RexROV 2 vehicle.

The thruster allocator uses the thruster allocation matrix to convert the geometry_msgs/Wrench message from the /<uuv_name>/thruster_manager/input topic into reference input for each thruster unit.

Create or reset the thruster allocation matrix

In case the thruster allocation matrix has to be created or recalculated, start the simulation as follows

roslaunch uuv_gazebo_worlds ocean_waves.launch

roslaunch rexrov2_description upload_rexrov2.launch

and then start the thruster manager with the reset_tam set to true. The file will be stored under the filename provided with the path under the input tam_file as follows

roslaunch rexrov2_control start_thruster_manager.launch reset_tam:=true

Example

Start the simulation, spawn the RexROV 2 vehicle and then start the thruster allocation node as follows

roslaunch uuv_gazebo_worlds ocean_waves.launch

roslaunch rexrov2_description upload_rexrov2.launch

roslaunch rexrov2_control start_thruster_manager.launch

Note

A controller node or similar must publish the geometry_msgs/Wrench message in the /<uuv_name>/thruster_manager/input topic for the vehicle to move.

Arguments

model_name (default: rexrov2): Name of the model of the vehicle
uuv_name (default: $(arg model_name)): Namespace for the vehicle instance
base_link (default: base_link): Name of the base link frame
timeout (default: -1)
reset_tam (default: false)
output_dir (default: $(find rexrov2_control)/config)
config_file (default: $(find rexrov2_control)/config/thruster_manager.yaml)
tam_file (default: $(find rexrov2_control)/config/TAM.yaml)

`record_demo.launch`¶

Description

Starts the rosbag record node and records a set of topics for the RexROV 2.

Arguments

record (default: false): Starts the recording node if set to true
bag_filename (default: recording.bag): Filename for the recording ROS bag
use_ned_frame (default: false): If set to true, stores the odometry with respect to NED frame
uuv_name (default: rexrov2): Namespace of the vehicle

`start_pid_controller.launch`¶

Description

Starts the 6-DoF PID controller node with the configurations for the RexROV 2 vehicle. The controller's default parameters Kp, Kd and Ki were optimized using SMAC.

Example

roslaunch uuv_gazebo_worlds ocean_waves.launch

roslaunch rexrov2_description upload_rexrov2.launch

roslaunch rexrov2_control start_pid_controller.launch

Arguments

uuv_name (default: rexrov2): Namespace of the vehicle to be controller
record (default: false): Record ROS bag
gui_on (default: true): Start Gazebo client and RViz
use_ned_frame (default: false): If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
Kp (default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069): Coefficients for the $K_p$ diagonal matrix
Kd (default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925): Coefficients for the $K_d$ diagonal matrix
Ki (default: 321.417,321.417,321.417,2096.951,2096.951,2096.951): Coefficients for the $K_i$ diagonal matrix
teleop_on (default: false): Start joystick teleop node
joy_id (default: 0): ID of the joystick device
axis_yaw (default: 0): Joystick mapping for yaw angle input
axis_x (default: 4): Joystick mapping for X component of velocity reference input
axis_y (default: 3): Joystick mapping for Y component of velocity reference input
axis_z (default: 1): Joystick mapping for Z component of velocity reference input
thruster_manager_output_dir (default: $(find rexrov2_control)/config): Output directory for the generated thruster manager
thruster_manager_config_file (default: $(find rexrov2_control)/config/thruster_manager.yaml): File storing the configuration of the thruster manager
tam_file (default: $(find rexrov2_control)/config/TAM.yaml): File storing the thruster allocation matrix