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uuv_control_cascaded_pid

Version

Link to the uuv_simulator repository here

Description

A cascade of PID controllers for acceleration, velocity, and position control.

Launch files

joy_velocity.launch

Arguments

  • model_name
  • uuv_name (default: $(arg model_name))
  • joy_id (default: 0)
joy_accel.launch

Arguments

  • model_name
  • uuv_name (default: $(arg model_name))
  • joy_id (default: 0)
position_hold.launch

Arguments

  • model_name
  • uuv_name (default: $(arg model_name))

Scripts

AccelerationControl.py

Script type: python

PositionControl.py

Script type: python

PositionControlUnderactuated.py

Script type: python

VelocityControl.py

Script type: python