eca_a9_control
Link to the
eca_a9
repository here
Description¶
Configuration and launch files to control the ECA A9 AUV
Launch files¶
start_control_allocator.launch
¶
start_nmb_sm_control.launch
¶
Arguments
- uuv_name (default:
eca_a9
) - gui_on (default:
true
) - use_ned_frame (default:
false
) - teleop_on (default:
false
) - joy_id (default:
0
) - axis_yaw (default:
0
) - axis_x (default:
4
) - axis_y (default:
3
) - axis_z (default:
1
) - Kd (default:
24.328999405818507,95.16574836816616,25.943377407248825,0,6.388371356010936,79.2844976871164
) - Ki (default:
0.0010232768152540483,0.0010232768152540483,0.0010232768152540483,0,0.11901644069756079,0.11901644069756079
) - slope (default:
0.9903858668992097,0.9903858668992097,0.9903858668992097,0,0.20796465986893387,0.20796465986893387
) - look_ahead_delay (default:
2.0
) - min_thrust (default:
40
)
start_auv_teleop.launch
¶
Arguments
- uuv_name (default:
eca_a9
) - joy_id (default:
0
)
start_geometric_tracking_control.launch
¶
Arguments
- uuv_name (default:
eca_a9
) - gui_on (default:
true
) - max_forward_speed (default:
2
) - dubins_radius (default:
10
) - min_thrust (default:
0
) - max_thrust (default:
120
) - thrust_p_gain (default:
5.0
) - thrust_d_gain (default:
0.01
) - p_roll (default:
0.2
) - p_pitch (default:
0.8
) - d_pitch (default:
0.0
) - p_yaw (default:
0.8
) - d_yaw (default:
0.0
) - n_fins (default:
4
) - map_roll
- map_pitch
- map_yaw
- max_fin_angle (default:
1.396263402
) - idle_radius (default:
30
) - look_ahead_delay (default:
0.0
) - dubins_max_pitch (default:
0.26
) - desired_pitch_limit (default:
0.26
) - yaw_error_limit (default:
1.57
) - use_ned_frame (default:
false
) - stamped_pose_only (default:
false
) - timeout_idle_mode (default:
5
) - thruster_topic (default:
thrusters/0/input
) - thruster_topic_prefix (default:
thrusters
) - thruster_topic_suffix (default:
input
) - thruster_frame_base (default:
thruster_
) - thruster_conversion_fcn (default:
proportional
) - thruster_gain (default:
0.000049
) - fin_topic_prefix (default:
fins
) - fin_topic_suffix (default:
input
)