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uuv_auv_control_allocator

Version

Link to the uuv_simulator repository here

Description

Optimal allocation of forces and torques to thruster and fins of AUVs

Launch files

start_control_allocator.launch

Arguments

  • uuv_name
  • base_link (default: base_link)
  • output_dir
  • input_topic (default: control_allocation/control_input)
  • thruster_topic_prefix (default: thrusters)
  • thruster_topic_suffix (default: input)
  • thruster_frame_base (default: thruster_)
  • max_thrust (default: 120)
  • thruster_conversion_fcn (default: proportional)
  • thruster_gain (default: 0.0)
  • thruster_input (default: 0,1,2,3)
  • thruster_output (default: 0,1,2,3)
  • fin_frame_base (default: fin)
  • fluid_density (default: 1028.0)
  • lift_coefficient (default: 0.0)
  • fin_area (default: 0.0)
  • fin_topic_prefix (default: fins)
  • fin_topic_suffix (default: input)
  • fin_lower_joint_limit (default: -1.57)
  • fin_upper_joint_limit (default: 1.57)
  • timeout (default: -1)
  • update_rate (default: 10)

ROS Messages

AUVCommand
# Copyright (c) 2016 The UUV Simulator Authors.
# All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

std_msgs/Header header
float64 surge_speed
geometry_msgs/Wrench command

Scripts

control_allocator

Script type: python