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desistek_saga_control

Version

Link to the desistek_saga repository 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)