desistek_saga_control
Link to the
desistek_sagarepository here
Description¶
Configuration and launch files to control the Desistek SAGA ROV
Launch files¶
start_pdc_control.launch¶
Arguments
- uuv_name (default:
desistek_saga) - record (default:
false) - gui_on (default:
true) - use_ned_frame (default:
false) - Kp (default:
1,1,1,0,0,1) - Kd (default:
0,0,0,0,0,0) - teleop_on (default:
false) - joy_id (default:
0) - axis_yaw (default:
0) - axis_x (default:
4) - axis_y (default:
3) - axis_z (default:
1) - thruster_manager_output_dir (default:
$(find desistek_saga_control)/config) - thruster_manager_config_file (default:
$(find desistek_saga_control)/config/thruster_manager.yaml) - tam_file (default:
$(find desistek_saga_control)/config/TAM.yaml) - model_params_file (default:
$(find desistek_saga_control)/config/model_params.yaml)
start_thruster_manager.launch¶
Arguments
- uuv_name (default:
desistek_saga)
record_demo.launch¶
Arguments
- record (default:
false) - bag_filename (default:
recording.bag)
start_nmb_sm_control.launch¶
Arguments
- uuv_name (default:
desistek_saga) - record (default:
false) - gui_on (default:
true) - use_ned_frame (default:
false) - K (default:
5.0,5.0,5.0,0.0,0.0,5.0) - Kd (default:
10.0,13.73,2.44,0.0,0.0,3.55) - Ki (default:
0.05,0.62,0.05,0.0,0.0,0.05) - slope (default:
2.0,0.89,2.0,0.0,0.0,0.8) - teleop_on (default:
false) - joy_id (default:
0) - axis_yaw (default:
0) - axis_x (default:
4) - axis_y (default:
3) - axis_z (default:
1) - thruster_manager_output_dir (default:
$(find desistek_saga_control)/config) - thruster_manager_config_file (default:
$(find desistek_saga_control)/config/thruster_manager.yaml) - tam_file (default:
$(find desistek_saga_control)/config/TAM.yaml)
start_sf_control.launch¶
Arguments
- uuv_name (default:
desistek_saga) - record (default:
false) - gui_on (default:
true) - use_ned_frame (default:
false) - Kd (default:
1.0,1.0,1.0,0.0,0.0,1.0) - lambda (default:
1.0) - c (default:
1.0) - teleop_on (default:
false) - joy_id (default:
0) - axis_yaw (default:
0) - axis_x (default:
4) - axis_y (default:
3) - axis_z (default:
1) - thruster_manager_output_dir (default:
$(find desistek_saga_control)/config) - thruster_manager_config_file (default:
$(find desistek_saga_control)/config/thruster_manager.yaml) - tam_file (default:
$(find desistek_saga_control)/config/TAM.yaml) - model_params_file (default:
$(find desistek_saga_control)/config/model_params.yaml)
start_pid_control.launch¶
Arguments
- uuv_name (default:
desistek_saga) - record (default:
false) - gui_on (default:
true) - use_ned_frame (default:
false) - Kp (default:
1,1,1,0,0,1) - Kd (default:
0,0,0,0,0,0) - Ki (default:
0,0,0,0,0,0) - teleop_on (default:
false) - joy_id (default:
0) - axis_yaw (default:
0) - axis_x (default:
4) - axis_y (default:
3) - axis_z (default:
1) - thruster_manager_output_dir (default:
$(find desistek_saga_control)/config) - thruster_manager_config_file (default:
$(find desistek_saga_control)/config/thruster_manager.yaml) - tam_file (default:
$(find desistek_saga_control)/config/TAM.yaml)
start_cascaded_pid_with_teleop.launch¶
Arguments
- namespace (default:
desistek_saga) - joy_id (default:
0) - axis_x (default:
4) - axis_y (default:
3) - axis_z (default:
1) - axis_yaw (default:
0) - gui_on (default:
true)
start_position_hold.launch¶
Arguments
- namespace (default:
desistek_saga)
start_geometric_tracking_control.launch¶
Arguments
- uuv_name (default:
desistek_saga) - record (default:
false) - gui_on (default:
true) - Kp (default:
2.0,2.0,2.0,0.8) - Kd (default:
0.1,0.1,0.1,0.1) - Ki (default:
0.05,0.05,0.05,0.05) - teleop_on (default:
false) - joy_id (default:
0) - axis_yaw (default:
0) - axis_x (default:
4) - axis_y (default:
3) - axis_z (default:
1) - thruster_manager_output_dir (default:
$(find desistek_saga_control)/config) - thruster_manager_config_file (default:
$(find desistek_saga_control)/config/thruster_manager.yaml) - tam_file (default:
$(find desistek_saga_control)/config/TAM.yaml)