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Unmanned Underwater Vehicle Simulator Documentation
GitHub
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Installation
Quick start
API
UUV Simulator
UUV Simulator
Introduction
Features
Features
Actuators
Gazebo worlds
Path and trajectory generators
Visual Studio Code Snippets
Jupyter notebooks
Jupyter notebooks
Cubic Bézier curves
2D Dubins path algorithm
Helical paths
Linear interpolator
Cubic interpolator
Linear interpolator with polynomial blends
Dubins interpolator
User Guide
User Guide
Configuring the thruster manager
Create new vehicle
Creating new dynamic positioning controller
Generating disturbances
Creating a new world with a custom seabed
Packages
Packages
uuv_assistants
uuv_auv_control_allocator
uuv_control_cascaded_pid
uuv_control_msgs
uuv_control_utils
uuv_descriptions
uuv_gazebo_plugins
uuv_gazebo
uuv_gazebo_ros_plugins
uuv_gazebo_ros_plugins_msgs
uuv_gazebo_worlds
uuv_sensor_ros_plugins
uuv_sensor_ros_plugins_msgs
uuv_teleop
uuv_thruster_manager
uuv_trajectory_control
uuv_world_plugins
uuv_world_ros_plugins
uuv_world_ros_plugins_msgs
C++ API
C++ API
uuv_gazebo_plugins
uuv_gazebo_plugins
BuoyantObject
Dynamics
Dynamics
Dynamics
DynamicsFactory
DynamicsFirstOrder
DynamicsZeroOrder
ThrusterDynamicsBessa
ThrusterDynamicsYoerger
FinPlugin
HydrodynamicModel
HydrodynamicModel
HydrodynamicModel
HydrodynamicModelFactory
HMBox
HMCylinder
HMFossen
HMSphere
HMSpheroid
LiftDragModel
LiftDragModel
LiftDrag
LiftDragFactory
LiftDragQuadratic
LiftDragTwoLines
ThrusterConversionFcn
ThrusterConversionFcn
ConversionFunction
ConversionFunctionFactory
ConversionFunctionBasic
ConversionFunctionBessa
ConversionFunctionLinearInterp
ThrusterPlugin
UnderwaterObjectPlugin
uuv_gazebo_ros_plugins
uuv_gazebo_ros_plugins
AccelerationsTestPlugin
CustomBatteryConsumerROSPlugin
FinROSPlugin
JointStatePublisher
LinearBatteryROSPlugin
ThrusterROSPlugin
UnderwaterObjectROSPlugin
uuv_sensor_ros_plugins
uuv_sensor_ros_plugins
ROSBasePlugin
ROSBaseModelPlugin
ROSBaseSensorPlugin
CPCROSPlugin
DVLROSPlugin
GazeboRosImageSonar
GPSROSPlugin
IMUROSPlugin
IMUROSPlugin
IMUParameters
IMUROSPlugin
MagnetometerROSPlugin
MagnetometerROSPlugin
MagnetometerParameters
MagnetometerROSPlugin
PoseGTROSPlugin
RPTROSPlugin
SubseaPressureROSPlugin
UnderwaterCameraROSPlugin
uuv_world_plugins
uuv_world_plugins
GaussMarkovProcess
UnderwaterCurrentPlugin
uuv_world_ros_plugins
uuv_world_ros_plugins
SphericalCoordinatesROSInterfacePlugin
UnderwaterCurrentROSPlugin
Python API
Python API
uuv_auv_control_allocator
uuv_auv_control_allocator
uuv_auv_actuator_interface
uuv_control_cascaded_pids
uuv_control_cascaded_pids
PID
PID
Table of contents
PID
PIDRegulator
uuv_thruster_manager
uuv_thruster_manager
uuv_thrusters
uuv_trajectory_control
uuv_trajectory_control
uuv_control_interfaces
uuv_trajectory_generator
uuv_waypoints
Plume Simulator
Plume Simulator
Introduction
User Guide
User Guide
Introduction
How to start a turbulent passive plume
Add CPC sensor model to simulated vehicle
Packages
Packages
uuv_plume_simulator
uuv_cpc_sensor
uuv_plume_msgs
C++ API
C++ API
CPCSensor
Python API
Python API
uuv_plume_simulator
uuv_plume_simulator
uuv_gm_process
uuv_plume_model
RexROV 2
RexROV 2
Introduction
Packages
Packages
rexrov2_control
rexrov2_description
rexrov2_gazebo
ECA A9
ECA A9
Introduction
Packages
Packages
eca_a9_control
eca_a9_description
eca_a9_gazebo
LAUV
LAUV
Introduction
Packages
Packages
lauv_control
lauv_description
lauv_gazebo
Desistek SAGA ROV
Desistek SAGA ROV
Introduction
Packages
Packages
desistek_saga_control
desistek_saga_description
desistek_saga_gazebo
FAQ
Useful bibliography and other sources
About
About
License
Table of contents
PID
PIDRegulator
PID
PID
¶
PIDRegulator
¶
PIDRegulator
(
self
,
p
,
i
,
d
,
sat
)
A very basic 1D PID Regulator.