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uuv_thruster_manager

Version

Link to the uuv_simulator repository here

Description

The thruster manager package

Launch files

thruster_manager.launch

Arguments

  • model_name
  • uuv_name (default: $(arg model_name))
  • base_link (default: base_link)
  • timeout (default: -1)
  • reset_tam (default: false)
  • output_dir (default: $(find uuv_thruster_manager)/config/$(arg model_name))
  • config_file (default: $(find uuv_thruster_manager)/config/$(arg model_name)/thruster_manager.yaml)
  • tam_file (default: $(find uuv_thruster_manager)/config/$(arg model_name)/TAM.yaml)

ROS Services

GetThrusterManagerConfig
# 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.

---
string tf_prefix
string base_link
string thruster_frame_base
string thruster_topic_prefix
string thruster_topic_suffix
float64 timeout
float64 max_thrust
int32 n_thrusters
float64[] allocation_matrix
SetThrusterManagerConfig
# 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.

# Definitions
string DEFAULT_BASE_LINK            = /base_link
string DEFAULT_THRUSTER_FRAME_BASE  = /thruster_
string DEFAULT_PREFIX               = thrusters/
string DEFAULT_SUFFIX               = /input
# Service definition
string base_link
string thruster_frame_base
string thruster_topic_prefix
string thruster_topic_suffix
float64 timeout
float64 max_thrust
---
bool success
ThrusterManagerInfo
# 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.

---
int32 n_thrusters
float64[] allocation_matrix
string reference_frame
GetThrusterCurve
# 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.

float64 min
float64 max
int32 n_points
---
float64[] input
float64[] thrust

Scripts

thruster_allocator.py

Script type: python