lauv_control
Link to the
lauv_gazeborepository here
Description¶
Collection of configuration and launch files to start controllers for the LAUV.
Launch files¶
start_control_allocator.launch¶
start_nmb_sm_control.launch¶
Arguments
- uuv_name (default:
lauv) - gui_on (default:
true) - use_ned_frame (default:
false) - max_forward_speed (default:
2) - look_ahead_delay (default:
0.1) - teleop_on (default:
false) - joy_id (default:
0) - axis_yaw (default:
0) - axis_x (default:
4) - axis_y (default:
3) - axis_z (default:
1) - dubins_radius (default:
9) - dubins_max_pitch (default:
0.26) - 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)
start_auv_trajectory_control.launch¶
Arguments
- uuv_name (default:
lauv) - max_forward_speed (default:
2) - dubins_radius (default:
15) - min_thrust (default:
0) - max_thrust (default:
30) - thrust_p_gain (default:
2.5) - thrust_d_gain (default:
2.0) - p_roll (default:
0.1) - p_pitch (default:
3.0) - d_pitch (default:
0.5) - p_yaw (default:
2.0) - d_yaw (default:
0.1) - n_fins (default:
4) - map_roll (default:
1,1,1,1) - map_pitch (default:
0,1,0,-1) - map_yaw (default:
-1,0,1,0) - max_fin_angle (default:
1.396263402) - idle_radius (default:
15) - look_ahead_delay (default:
0.0) - dubins_max_pitch (default:
0.26) - desired_pitch_limit (default:
0.26) - yaw_error_limit (default:
1.57) - gui_on (default:
true) - use_ned_frame (default:
false) - stamped_pose_only (default:
false) - timeout_idle_mode (default:
50) - 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:
0.0002) - fin_topic_prefix (default:
fins) - fin_topic_suffix (default:
input)
start_auv_teleop.launch¶
Arguments
- uuv_name (default:
lauv) - joy_id (default:
0)