uuv_trajectory_control
Link to the
uuv_simulatorrepository here
Description¶
The uuv_trajectory_control package
Launch files¶
rov_pid_controller.launch¶
Arguments
- uuv_name
- model_name (default:
$(arg uuv_name)) - saturation (default:
1200) - gui_on (default:
true) - use_params_file (default:
false) - use_ned_frame (default:
false) - Kp (default:
11993.888,11993.888,11993.888,19460.069,19460.069,19460.069) - Kd (default:
9077.459,9077.459,9077.459,18880.925,18880.925,18880.925) - Ki (default:
321.417,321.417,321.417,2096.951,2096.951,2096.951) - controller_config_file (default:
$(find uuv_trajectory_control)/config/controllers/pid/$(arg model_name)/params.yaml) - thruster_manager_output_dir (default:
$(find uuv_thruster_manager)/config/$(arg model_name)) - thruster_manager_config_file (default:
$(find uuv_thruster_manager)/config/$(arg model_name)/thruster_manager.yaml) - tam_file (default:
$(find uuv_thruster_manager)/config/$(arg model_name)/TAM.yaml)
rov_mb_sm_controller.launch¶
Arguments
- uuv_name
- model_name (default:
$(arg uuv_name)) - saturation (default:
1200) - gui_on (default:
true) - use_params_file (default:
false) - use_ned_frame (default:
false) - lambda (default:
10,10,10,10,10,10) - rho_constant (default:
10000,10000,10000,10000,10000,10000) - k (default:
500,500,500,500,500,500) - c (default:
50,50,50,1,1,1) - adapt_slope (default:
100,10,10) - rho_0 (default:
3000,3000,8000,1500,1500,8000) - drift_prevent (default:
0.03) - controller_config_file (default:
$(find uuv_trajectory_control)/config/controllers/mb_sm/$(arg model_name)/params.yaml) - model_params_file (default:
$(find uuv_trajectory_control)/config/models/$(arg model_name)/params.yaml) - thruster_manager_output_dir (default:
$(find uuv_thruster_manager)/config/$(arg model_name)) - thruster_manager_config_file (default:
$(find uuv_thruster_manager)/config/$(arg model_name)/thruster_manager.yaml) - tam_file (default:
$(find uuv_thruster_manager)/config/$(arg model_name)/TAM.yaml)
auv_geometric_tracking_controller.launch¶
Arguments
- uuv_name
- use_params_file (default:
false) - gui_on (default:
true) - use_ned_frame (default:
false) - max_forward_speed (default:
2) - dubins_radius (default:
10) - dubins_max_pitch (default:
0.09) - min_thrust (default:
70) - max_thrust (default:
200) - thruster_topic (default:
thrusters/0/input) - thrust_p_gain (default:
1) - thrust_d_gain (default:
1) - gain_roll (default:
1) - gain_pitch (default:
1) - gain_yaw (default:
1) - n_fins (default:
4) - map_roll (default:
0,0,0,0) - map_pitch (default:
0,0,0,0) - map_yaw (default:
0,0,0,0) - max_fin_angle (default:
0.0) - fin_topic_prefix (default:
fins) - fin_topic_suffix (default:
input) - idle_radius (default:
10.0) - look_ahead_delay (default:
5.0) - desired_pitch_limit (default:
0.26) - yaw_error_limit (default:
1.0) - thruster_topic_prefix (default:
thrusters) - thruster_topic_suffix (default:
input) - thruster_frame_base (default:
thruster_) - thruster_conversion_fcn (default:
proportional) - thruster_gain (default:
0.0) - thruster_input (default:
0,1,2,3) - thruster_output (default:
0,1,2,3)
rov_mb_fl_controller.launch¶
Arguments
- uuv_name
- model_name (default:
$(arg uuv_name)) - saturation (default:
1200) - gui_on (default:
true) - use_params_file (default:
false) - use_ned_frame (default:
false) - Kp (default:
19987.218,19987.218,19987.218,19460.293,19460.293,19460.293) - Kd (default:
11458.051,11458.051,11458.051,17068.778,17068.778,17068.778) - Ki (default:
1689.976,1689.976,1689.976,186.198,186.198,186.198) - controller_config_file (default:
$(find uuv_trajectory_control)/config/controllers/pid/$(arg model_name)/params.yaml) - model_params_file (default:
$(find uuv_trajectory_control)/config/models/$(arg model_name)/params.yaml) - thruster_manager_output_dir (default:
$(find uuv_thruster_manager)/config/$(arg model_name)) - thruster_manager_config_file (default:
$(find uuv_thruster_manager)/config/$(arg model_name)/thruster_manager.yaml) - tam_file (default:
$(find uuv_thruster_manager)/config/$(arg model_name)/TAM.yaml)
rov_nmb_sm_controller.launch¶
Arguments
- uuv_name
- model_name (default:
$(arg uuv_name)) - saturation (default:
1200) - gui_on (default:
true) - use_params_file (default:
false) - use_ned_frame (default:
false) - max_forward_speed (default:
0.5) - K (default:
5,5,5,5,5,5) - Kd (default:
4118.98,4118.98,4118.98,8000.0,8000.0,8000.0) - Ki (default:
0.06144,0.06144,0.06144,0.078,0.078,0.078) - slope (default:
0.182,0.182,0.182,3.348,3.348,3.348) - controller_config_file (default:
$(find uuv_trajectory_control)/config/controllers/nmb_sm/$(arg model_name)/params.yaml) - thruster_manager_output_dir (default:
$(find uuv_thruster_manager)/config/$(arg model_name)) - thruster_manager_config_file (default:
$(find uuv_thruster_manager)/config/$(arg model_name)/thruster_manager.yaml) - tam_file (default:
$(find uuv_thruster_manager)/config/$(arg model_name)/TAM.yaml)
rov_nl_pid_controller.launch¶
Arguments
- uuv_name
- model_name
- saturation (default:
6000) - gui_on (default:
true) - use_params_file (default:
false) - use_ned_frame (default:
false) - Kp (default:
6017.059667616178,6017.059667616178,6017.059667616178,9731.391095849109,9731.391095849109,9731.391095849109) - Kd (default:
2682.9509286089447,2682.9509286089447,2682.9509286089447,9440.462338720527,9440.462338720527,9440.462338720527) - Ki (default:
0,0,0,0,0,0) - Hm (default:
1657.655912647713,1657.655912647713,1657.655912647713,4193.901741127024,4193.901741127024,4193.901741127024) - controller_config_file (default:
$(find uuv_trajectory_control)/config/controllers/nl_pid/$(arg model_name)/params.yaml) - model_params_file (default:
$(find uuv_trajectory_control)/config/models/$(arg model_name)/params.yaml) - thruster_manager_output_dir (default:
$(find uuv_thruster_manager)/config/$(arg model_name)) - thruster_manager_config_file (default:
$(find uuv_thruster_manager)/config/$(arg model_name)/thruster_manager.yaml) - tam_file (default:
$(find uuv_thruster_manager)/config/$(arg model_name)/TAM.yaml)
rov_sf_controller.launch¶
Arguments
- uuv_name
- model_name (default:
$(arg uuv_name)) - saturation (default:
5000) - gui_on (default:
true) - use_params_file (default:
false) - use_ned_frame (default:
false) - Kd (default:
100.0,100.0,100.0,100.0,100.0,100.0) - lambda (default:
1.0) - c (default:
1.0) - controller_config_file (default:
$(find uuv_trajectory_control)/config/controllers/pid/$(arg model_name)/params.yaml) - model_params_file (default:
$(find uuv_trajectory_control)/config/models/$(arg model_name)/params.yaml) - thruster_manager_output_dir (default:
$(find uuv_thruster_manager)/config/$(arg model_name)) - thruster_manager_config_file (default:
$(find uuv_thruster_manager)/config/$(arg model_name)/thruster_manager.yaml) - tam_file (default:
$(find uuv_thruster_manager)/config/$(arg model_name)/TAM.yaml)
rov_pd_grav_compensation_controller.launch¶
Arguments
- uuv_name
- model_name (default:
$(arg uuv_name)) - saturation (default:
1200) - gui_on (default:
true) - use_params_file (default:
false) - use_ned_frame (default:
false) - Kp (default:
11993.888,11993.888,11993.888,19460.069,19460.069,19460.069) - Kd (default:
9077.459,9077.459,9077.459,18880.925,18880.925,18880.925) - controller_config_file (default:
$(find uuv_trajectory_control)/config/controllers/pid/$(arg model_name)/params.yaml) - model_params_file (default:
$(find uuv_trajectory_control)/config/models/$(arg model_name)/params.yaml) - thruster_manager_output_dir (default:
$(find uuv_thruster_manager)/config/$(arg model_name)) - thruster_manager_config_file (default:
$(find uuv_thruster_manager)/config/$(arg model_name)/thruster_manager.yaml) - tam_file (default:
$(find uuv_thruster_manager)/config/$(arg model_name)/TAM.yaml)
rov_ua_pid_controller.launch¶
Arguments
- uuv_name
- model_name (default:
$(arg uuv_name)) - saturation (default:
1200) - use_params_file (default:
false) - gui_on (default:
true) - Kp (default:
10.0,10.0,10.0,10.0) - Kd (default:
1.0,1.0,1.0,1.0) - Ki (default:
0.5,0.5,0.5,0.5) - controller_config_file (default:
$(find uuv_trajectory_control)/config/controllers/ua_pid/$(arg model_name)/params.yaml) - thruster_manager_output_dir (default:
$(find uuv_thruster_manager)/config/$(arg model_name)) - thruster_manager_config_file (default:
$(find uuv_thruster_manager)/config/$(arg model_name)/thruster_manager.yaml) - tam_file (default:
$(find uuv_thruster_manager)/config/$(arg model_name)/TAM.yaml)
Scripts¶
rov_mb_fl_controller.py¶
Script type:
python
rov_pd_grav_compensation_controller.py¶
Script type:
python
rov_mb_sm_controller.py¶
Script type:
python
rov_sf_controller.py¶
Script type:
python
rov_nmb_sm_controller.py¶
Script type:
python
rov_ua_pid_controller.py¶
Script type:
python
rov_pid_controller.py¶
Script type:
python
rov_nl_pid_controller.py¶
Script type:
python
auv_geometric_tracking_controller.py¶
Script type:
python
demo_wp_trajectory_generator.py¶
Script type:
python