uuv_control_utils
Link to the
uuv_simulatorrepository here
Description¶
The uuv_control_utils package
Launch files¶
send_waypoints_file.launch¶
Arguments
- uuv_name
- filename (default:
$(find uuv_control_utils)/config/example_waypoints.yaml) - start_time (default:
-1) - interpolator (default:
lipb)
set_timed_current_perturbation.launch¶
Arguments
- starting_time (default:
0.0) - end_time (default:
-1) - current_vel (default:
1) - horizontal_angle (default:
0.0) - vertical_angle (default:
0.0)
start_disturbance_manager.launch¶
Arguments
- uuv_name
- use_file (default:
false) - disturbance_file
- current_starting_time (default:
20.0) - current_vel (default:
1) - current_horz_angle (default:
0.0) - current_vert_angle (default:
0.0) - current_duration (default:
10) - force_x (default:
0) - force_y (default:
2000) - force_z (default:
0) - torque_x (default:
0) - torque_y (default:
0) - torque_z (default:
0) - wrench_starting_time (default:
30) - wrench_duration (default:
20)
apply_body_wrench.launch¶
Arguments
- uuv_name
- force_x (default:
0) - force_y (default:
0) - force_z (default:
0) - torque_x (default:
0) - torque_y (default:
0) - torque_z (default:
0) - starting_time (default:
0) - duration (default:
1)
start_circular_trajectory.launch¶
Arguments
- uuv_name
- start_time (default:
-1) - radius (default:
8) - center_x (default:
4) - center_y (default:
2) - center_z (default:
-22) - n_points (default:
50) - heading_offset (default:
0) - duration (default:
0) - max_forward_speed (default:
0.3)
set_gm_current_perturbation.launch¶
Arguments
- component
- mean (default:
0.0) - min (default:
0.0) - max (default:
0.0) - noise (default:
0.0) - mu (default:
0.0)
set_scalar_parameter.launch¶
Arguments
- uuv_name
- service_name
- data
set_thruster_output_efficiency.launch¶
Arguments
- uuv_name
- starting_time (default:
0.0) - thruster_id (default:
0) - efficiency (default:
1.0) - duration (default:
-1)
set_thruster_state.launch¶
Arguments
- uuv_name
- starting_time (default:
0.0) - thruster_id (default:
0) - is_on (default:
0) - duration (default:
-1)
start_helical_trajectory.launch¶
Arguments
- uuv_name
- start_time (default:
-1) - radius (default:
8) - center_x (default:
0) - center_y (default:
0) - center_z (default:
-30) - n_points (default:
50) - n_turns (default:
1) - delta_z (default:
5.0) - heading_offset (default:
0) - duration (default:
150) - max_forward_speed (default:
0.3)
Scripts¶
set_timed_current_perturbation.py¶
Script type:
python
apply_body_wrench.py¶
Script type:
python
trajectory_marker_publisher.py¶
Script type:
python
set_scalar_parameter.py¶
Script type:
python
set_thruster_output_efficiency.py¶
Script type:
python
start_helical_trajectory.py¶
Script type:
python
disturbance_manager.py¶
Script type:
python
send_waypoint_file.py¶
Script type:
python
start_circular_trajectory.py¶
Script type:
python
set_thruster_state.py¶
Script type:
python
set_gm_current_perturbation.py¶
Script type:
python