uuv_control_utils
Link to the
uuv_simulator
repository 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