auv_setup - ROS Package Overview

Package Summary

Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/vortexntnu/vortex-auv.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-26
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The auv_setup package

Maintainers

alekskl01

Authors

No additional authors.

AUV setup

This package contains global configs and the main launchfiles. The reason for putting these in a separate package is to be able to reach the aforementioned files from anywhere in a simple manner.

Config

The config folder contains physical parameters related to the AUV and the environment

environments: Atmosphere, water density, gravity etc..
robots: Any and all physical constants directly related to the AUV body
thrusters: Thruster configs for different thruster types

Launch

This package contains launchfiles for each specific AUV. Additionally topside.launch.py is used on the topside computer that the joystick is connected to, for ROV operations.

ros2 launch auv_setup topside.launch.py --orientation_mode:=your_argument

Argument	Default	Description
`orientation_mode`	`euler`	Types to choose from `euler` or `quat`

adaptive — launches dp_adapt_backs_controller with reference_filter_dp (Euler/RPY reference filter). Controller params are loaded from dp_adapt_backs_controller/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp.launch.py controller_type:=adaptive drone:=nautilus

adaptive_quat — launches dp_adapt_backs_controller with reference_filter_dp (Quaternion reference filter). Controller params are loaded from dp_adapt_backs_controller_quat/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp_quat.launch.py controller_type:=adaptive drone:=nautilus

dp.launch.py or dp_quat.launch.py

Both launch the DP (dynamic positioning) stack, consisting of a reference filter and a controller launched together in a composable node container to limit intra process communication and allow for shared memory.

ros2 launch auv_setup dp.launch.py

Argument	Default	Description
`drone`	`nautilus`	Drone model — loads `auv_setup/config/robots/<drone>.yaml`
`namespace`	`<drone>`	ROS namespace. Defaults to the drone name if left empty
`controller_type`	`adaptive`	Controller to use: `adaptive`, `adaptive_quat` or `pid`

adaptive — launches dp_adapt_backs_controller with reference_filter_dp (Euler/RPY reference filter). Controller params are loaded from dp_adapt_backs_controller/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp.launch.py controller_type:=adaptive drone:=nautilus

adaptive_quat — launches dp_adapt_backs_controller with reference_filter_dp (Quaternion reference filter). Controller params are loaded from dp_adapt_backs_controller_quat/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp_quat.launch.py controller_type:=adaptive drone:=nautilus

pid — launches pid_controller_dp with reference_filter_dp_quat (quaternion reference filter). Controller params are loaded from pid_controller_dp/config/pid_params.yaml.

ros2 launch auv_setup dp.launch.py controller_type:=pid drone:=nautilus

When using the joystick to send references, make sure orientation_mode in joystick_interface_auv matches the controller: use euler with adaptive and quat with pid.

Description

The description folder contains the URDF and xacro files for the AUVs. The main description launch file is drone_description.launch.py, which makes all static transforms available to the ros graph.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	xacro
	robot_state_publisher

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
landmark_server
waypoint_manager
odom_transformer

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `auv_setup` at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.

auv_setup package from vortex-auv repo

auv_setup dp_adapt_backs_controller dp_adapt_backs_controller_quat pid_controller_dp pid_controller_dp_euler velocity_controller_lqr ekf_pose_filtering line_filtering pose_action_server pose_filtering los_guidance reference_filter_dp reference_filter_dp_quat joystick_interface_auv keyboard_joy landmark_server operation_mode_manager waypoint_manager thrust_allocator_auv thruster_interface_auv odom_transformer

ROS Distro
github

Package Summary

Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/vortexntnu/vortex-auv.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-26
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The auv_setup package

Maintainers

alekskl01

Authors

No additional authors.

AUV setup

This package contains global configs and the main launchfiles. The reason for putting these in a separate package is to be able to reach the aforementioned files from anywhere in a simple manner.

Config

The config folder contains physical parameters related to the AUV and the environment

environments: Atmosphere, water density, gravity etc..
robots: Any and all physical constants directly related to the AUV body
thrusters: Thruster configs for different thruster types

Launch

This package contains launchfiles for each specific AUV. Additionally topside.launch.py is used on the topside computer that the joystick is connected to, for ROV operations.

ros2 launch auv_setup topside.launch.py --orientation_mode:=your_argument

Argument	Default	Description
`orientation_mode`	`euler`	Types to choose from `euler` or `quat`

adaptive — launches dp_adapt_backs_controller with reference_filter_dp (Euler/RPY reference filter). Controller params are loaded from dp_adapt_backs_controller/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp.launch.py controller_type:=adaptive drone:=nautilus

adaptive_quat — launches dp_adapt_backs_controller with reference_filter_dp (Quaternion reference filter). Controller params are loaded from dp_adapt_backs_controller_quat/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp_quat.launch.py controller_type:=adaptive drone:=nautilus

dp.launch.py or dp_quat.launch.py

Both launch the DP (dynamic positioning) stack, consisting of a reference filter and a controller launched together in a composable node container to limit intra process communication and allow for shared memory.

ros2 launch auv_setup dp.launch.py

Argument	Default	Description
`drone`	`nautilus`	Drone model — loads `auv_setup/config/robots/<drone>.yaml`
`namespace`	`<drone>`	ROS namespace. Defaults to the drone name if left empty
`controller_type`	`adaptive`	Controller to use: `adaptive`, `adaptive_quat` or `pid`

adaptive — launches dp_adapt_backs_controller with reference_filter_dp (Euler/RPY reference filter). Controller params are loaded from dp_adapt_backs_controller/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp.launch.py controller_type:=adaptive drone:=nautilus

adaptive_quat — launches dp_adapt_backs_controller with reference_filter_dp (Quaternion reference filter). Controller params are loaded from dp_adapt_backs_controller_quat/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp_quat.launch.py controller_type:=adaptive drone:=nautilus

pid — launches pid_controller_dp with reference_filter_dp_quat (quaternion reference filter). Controller params are loaded from pid_controller_dp/config/pid_params.yaml.

ros2 launch auv_setup dp.launch.py controller_type:=pid drone:=nautilus

When using the joystick to send references, make sure orientation_mode in joystick_interface_auv matches the controller: use euler with adaptive and quat with pid.

Description

The description folder contains the URDF and xacro files for the AUVs. The main description launch file is drone_description.launch.py, which makes all static transforms available to the ros graph.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	xacro
	robot_state_publisher

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
landmark_server
waypoint_manager
odom_transformer

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `auv_setup` at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.

auv_setup package from vortex-auv repo

auv_setup dp_adapt_backs_controller dp_adapt_backs_controller_quat pid_controller_dp pid_controller_dp_euler velocity_controller_lqr ekf_pose_filtering line_filtering pose_action_server pose_filtering los_guidance reference_filter_dp reference_filter_dp_quat joystick_interface_auv keyboard_joy landmark_server operation_mode_manager waypoint_manager thrust_allocator_auv thruster_interface_auv odom_transformer

ROS Distro
github

Package Summary

Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/vortexntnu/vortex-auv.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-26
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The auv_setup package

Maintainers

alekskl01

Authors

No additional authors.

AUV setup

This package contains global configs and the main launchfiles. The reason for putting these in a separate package is to be able to reach the aforementioned files from anywhere in a simple manner.

Config

The config folder contains physical parameters related to the AUV and the environment

environments: Atmosphere, water density, gravity etc..
robots: Any and all physical constants directly related to the AUV body
thrusters: Thruster configs for different thruster types

Launch

This package contains launchfiles for each specific AUV. Additionally topside.launch.py is used on the topside computer that the joystick is connected to, for ROV operations.

ros2 launch auv_setup topside.launch.py --orientation_mode:=your_argument

Argument	Default	Description
`orientation_mode`	`euler`	Types to choose from `euler` or `quat`

adaptive — launches dp_adapt_backs_controller with reference_filter_dp (Euler/RPY reference filter). Controller params are loaded from dp_adapt_backs_controller/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp.launch.py controller_type:=adaptive drone:=nautilus

adaptive_quat — launches dp_adapt_backs_controller with reference_filter_dp (Quaternion reference filter). Controller params are loaded from dp_adapt_backs_controller_quat/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp_quat.launch.py controller_type:=adaptive drone:=nautilus

dp.launch.py or dp_quat.launch.py

Both launch the DP (dynamic positioning) stack, consisting of a reference filter and a controller launched together in a composable node container to limit intra process communication and allow for shared memory.

ros2 launch auv_setup dp.launch.py

Argument	Default	Description
`drone`	`nautilus`	Drone model — loads `auv_setup/config/robots/<drone>.yaml`
`namespace`	`<drone>`	ROS namespace. Defaults to the drone name if left empty
`controller_type`	`adaptive`	Controller to use: `adaptive`, `adaptive_quat` or `pid`

adaptive — launches dp_adapt_backs_controller with reference_filter_dp (Euler/RPY reference filter). Controller params are loaded from dp_adapt_backs_controller/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp.launch.py controller_type:=adaptive drone:=nautilus

adaptive_quat — launches dp_adapt_backs_controller with reference_filter_dp (Quaternion reference filter). Controller params are loaded from dp_adapt_backs_controller_quat/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp_quat.launch.py controller_type:=adaptive drone:=nautilus

pid — launches pid_controller_dp with reference_filter_dp_quat (quaternion reference filter). Controller params are loaded from pid_controller_dp/config/pid_params.yaml.

ros2 launch auv_setup dp.launch.py controller_type:=pid drone:=nautilus

When using the joystick to send references, make sure orientation_mode in joystick_interface_auv matches the controller: use euler with adaptive and quat with pid.

Description

The description folder contains the URDF and xacro files for the AUVs. The main description launch file is drone_description.launch.py, which makes all static transforms available to the ros graph.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	xacro
	robot_state_publisher

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
landmark_server
waypoint_manager
odom_transformer

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `auv_setup` at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.

auv_setup package from vortex-auv repo

auv_setup dp_adapt_backs_controller dp_adapt_backs_controller_quat pid_controller_dp pid_controller_dp_euler velocity_controller_lqr ekf_pose_filtering line_filtering pose_action_server pose_filtering los_guidance reference_filter_dp reference_filter_dp_quat joystick_interface_auv keyboard_joy landmark_server operation_mode_manager waypoint_manager thrust_allocator_auv thruster_interface_auv odom_transformer

ROS Distro
github

Package Summary

Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/vortexntnu/vortex-auv.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-26
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The auv_setup package

Maintainers

alekskl01

Authors

No additional authors.

AUV setup

This package contains global configs and the main launchfiles. The reason for putting these in a separate package is to be able to reach the aforementioned files from anywhere in a simple manner.

Config

The config folder contains physical parameters related to the AUV and the environment

environments: Atmosphere, water density, gravity etc..
robots: Any and all physical constants directly related to the AUV body
thrusters: Thruster configs for different thruster types

Launch

This package contains launchfiles for each specific AUV. Additionally topside.launch.py is used on the topside computer that the joystick is connected to, for ROV operations.

ros2 launch auv_setup topside.launch.py --orientation_mode:=your_argument

Argument	Default	Description
`orientation_mode`	`euler`	Types to choose from `euler` or `quat`

adaptive — launches dp_adapt_backs_controller with reference_filter_dp (Euler/RPY reference filter). Controller params are loaded from dp_adapt_backs_controller/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp.launch.py controller_type:=adaptive drone:=nautilus

adaptive_quat — launches dp_adapt_backs_controller with reference_filter_dp (Quaternion reference filter). Controller params are loaded from dp_adapt_backs_controller_quat/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp_quat.launch.py controller_type:=adaptive drone:=nautilus

dp.launch.py or dp_quat.launch.py

Both launch the DP (dynamic positioning) stack, consisting of a reference filter and a controller launched together in a composable node container to limit intra process communication and allow for shared memory.

ros2 launch auv_setup dp.launch.py

Argument	Default	Description
`drone`	`nautilus`	Drone model — loads `auv_setup/config/robots/<drone>.yaml`
`namespace`	`<drone>`	ROS namespace. Defaults to the drone name if left empty
`controller_type`	`adaptive`	Controller to use: `adaptive`, `adaptive_quat` or `pid`

adaptive — launches dp_adapt_backs_controller with reference_filter_dp (Euler/RPY reference filter). Controller params are loaded from dp_adapt_backs_controller/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp.launch.py controller_type:=adaptive drone:=nautilus

adaptive_quat — launches dp_adapt_backs_controller with reference_filter_dp (Quaternion reference filter). Controller params are loaded from dp_adapt_backs_controller_quat/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp_quat.launch.py controller_type:=adaptive drone:=nautilus

pid — launches pid_controller_dp with reference_filter_dp_quat (quaternion reference filter). Controller params are loaded from pid_controller_dp/config/pid_params.yaml.

ros2 launch auv_setup dp.launch.py controller_type:=pid drone:=nautilus

When using the joystick to send references, make sure orientation_mode in joystick_interface_auv matches the controller: use euler with adaptive and quat with pid.

Description

The description folder contains the URDF and xacro files for the AUVs. The main description launch file is drone_description.launch.py, which makes all static transforms available to the ros graph.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	xacro
	robot_state_publisher

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
landmark_server
waypoint_manager
odom_transformer

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `auv_setup` at Robotics Stack Exchange

auv_setup package from vortex-auv repo

auv_setup dp_adapt_backs_controller dp_adapt_backs_controller_quat pid_controller_dp pid_controller_dp_euler velocity_controller_lqr ekf_pose_filtering line_filtering pose_action_server pose_filtering los_guidance reference_filter_dp reference_filter_dp_quat joystick_interface_auv keyboard_joy landmark_server operation_mode_manager waypoint_manager thrust_allocator_auv thruster_interface_auv odom_transformer

ROS Distro
github

Package Summary

Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/vortexntnu/vortex-auv.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-26
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The auv_setup package

Maintainers

alekskl01

Authors

No additional authors.

AUV setup

This package contains global configs and the main launchfiles. The reason for putting these in a separate package is to be able to reach the aforementioned files from anywhere in a simple manner.

Config

The config folder contains physical parameters related to the AUV and the environment

environments: Atmosphere, water density, gravity etc..
robots: Any and all physical constants directly related to the AUV body
thrusters: Thruster configs for different thruster types

Launch

This package contains launchfiles for each specific AUV. Additionally topside.launch.py is used on the topside computer that the joystick is connected to, for ROV operations.

ros2 launch auv_setup topside.launch.py --orientation_mode:=your_argument

Argument	Default	Description
`orientation_mode`	`euler`	Types to choose from `euler` or `quat`

adaptive — launches dp_adapt_backs_controller with reference_filter_dp (Euler/RPY reference filter). Controller params are loaded from dp_adapt_backs_controller/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp.launch.py controller_type:=adaptive drone:=nautilus

adaptive_quat — launches dp_adapt_backs_controller with reference_filter_dp (Quaternion reference filter). Controller params are loaded from dp_adapt_backs_controller_quat/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp_quat.launch.py controller_type:=adaptive drone:=nautilus

dp.launch.py or dp_quat.launch.py

Both launch the DP (dynamic positioning) stack, consisting of a reference filter and a controller launched together in a composable node container to limit intra process communication and allow for shared memory.

ros2 launch auv_setup dp.launch.py

Argument	Default	Description
`drone`	`nautilus`	Drone model — loads `auv_setup/config/robots/<drone>.yaml`
`namespace`	`<drone>`	ROS namespace. Defaults to the drone name if left empty
`controller_type`	`adaptive`	Controller to use: `adaptive`, `adaptive_quat` or `pid`

adaptive — launches dp_adapt_backs_controller with reference_filter_dp (Euler/RPY reference filter). Controller params are loaded from dp_adapt_backs_controller/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp.launch.py controller_type:=adaptive drone:=nautilus

adaptive_quat — launches dp_adapt_backs_controller with reference_filter_dp (Quaternion reference filter). Controller params are loaded from dp_adapt_backs_controller_quat/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp_quat.launch.py controller_type:=adaptive drone:=nautilus

pid — launches pid_controller_dp with reference_filter_dp_quat (quaternion reference filter). Controller params are loaded from pid_controller_dp/config/pid_params.yaml.

ros2 launch auv_setup dp.launch.py controller_type:=pid drone:=nautilus

When using the joystick to send references, make sure orientation_mode in joystick_interface_auv matches the controller: use euler with adaptive and quat with pid.

Description

The description folder contains the URDF and xacro files for the AUVs. The main description launch file is drone_description.launch.py, which makes all static transforms available to the ros graph.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	xacro
	robot_state_publisher

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
landmark_server
waypoint_manager
odom_transformer

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `auv_setup` at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.

auv_setup package from vortex-auv repo

auv_setup dp_adapt_backs_controller dp_adapt_backs_controller_quat pid_controller_dp pid_controller_dp_euler velocity_controller_lqr ekf_pose_filtering line_filtering pose_action_server pose_filtering los_guidance reference_filter_dp reference_filter_dp_quat joystick_interface_auv keyboard_joy landmark_server operation_mode_manager waypoint_manager thrust_allocator_auv thruster_interface_auv odom_transformer

ROS Distro
github

Package Summary

Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/vortexntnu/vortex-auv.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-26
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The auv_setup package

Maintainers

alekskl01

Authors

No additional authors.

AUV setup

This package contains global configs and the main launchfiles. The reason for putting these in a separate package is to be able to reach the aforementioned files from anywhere in a simple manner.

Config

The config folder contains physical parameters related to the AUV and the environment

environments: Atmosphere, water density, gravity etc..
robots: Any and all physical constants directly related to the AUV body
thrusters: Thruster configs for different thruster types

Launch

This package contains launchfiles for each specific AUV. Additionally topside.launch.py is used on the topside computer that the joystick is connected to, for ROV operations.

ros2 launch auv_setup topside.launch.py --orientation_mode:=your_argument

Argument	Default	Description
`orientation_mode`	`euler`	Types to choose from `euler` or `quat`

adaptive — launches dp_adapt_backs_controller with reference_filter_dp (Euler/RPY reference filter). Controller params are loaded from dp_adapt_backs_controller/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp.launch.py controller_type:=adaptive drone:=nautilus

adaptive_quat — launches dp_adapt_backs_controller with reference_filter_dp (Quaternion reference filter). Controller params are loaded from dp_adapt_backs_controller_quat/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp_quat.launch.py controller_type:=adaptive drone:=nautilus

dp.launch.py or dp_quat.launch.py

Both launch the DP (dynamic positioning) stack, consisting of a reference filter and a controller launched together in a composable node container to limit intra process communication and allow for shared memory.

ros2 launch auv_setup dp.launch.py

Argument	Default	Description
`drone`	`nautilus`	Drone model — loads `auv_setup/config/robots/<drone>.yaml`
`namespace`	`<drone>`	ROS namespace. Defaults to the drone name if left empty
`controller_type`	`adaptive`	Controller to use: `adaptive`, `adaptive_quat` or `pid`

adaptive — launches dp_adapt_backs_controller with reference_filter_dp (Euler/RPY reference filter). Controller params are loaded from dp_adapt_backs_controller/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp.launch.py controller_type:=adaptive drone:=nautilus

adaptive_quat — launches dp_adapt_backs_controller with reference_filter_dp (Quaternion reference filter). Controller params are loaded from dp_adapt_backs_controller_quat/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp_quat.launch.py controller_type:=adaptive drone:=nautilus

pid — launches pid_controller_dp with reference_filter_dp_quat (quaternion reference filter). Controller params are loaded from pid_controller_dp/config/pid_params.yaml.

ros2 launch auv_setup dp.launch.py controller_type:=pid drone:=nautilus

When using the joystick to send references, make sure orientation_mode in joystick_interface_auv matches the controller: use euler with adaptive and quat with pid.

Description

The description folder contains the URDF and xacro files for the AUVs. The main description launch file is drone_description.launch.py, which makes all static transforms available to the ros graph.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	xacro
	robot_state_publisher

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
landmark_server
waypoint_manager
odom_transformer

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `auv_setup` at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.

auv_setup package from vortex-auv repo

auv_setup dp_adapt_backs_controller dp_adapt_backs_controller_quat pid_controller_dp pid_controller_dp_euler velocity_controller_lqr ekf_pose_filtering line_filtering pose_action_server pose_filtering los_guidance reference_filter_dp reference_filter_dp_quat joystick_interface_auv keyboard_joy landmark_server operation_mode_manager waypoint_manager thrust_allocator_auv thruster_interface_auv odom_transformer

ROS Distro
github

Package Summary

Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/vortexntnu/vortex-auv.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-26
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The auv_setup package

Maintainers

alekskl01

Authors

No additional authors.

AUV setup

This package contains global configs and the main launchfiles. The reason for putting these in a separate package is to be able to reach the aforementioned files from anywhere in a simple manner.

Config

The config folder contains physical parameters related to the AUV and the environment

environments: Atmosphere, water density, gravity etc..
robots: Any and all physical constants directly related to the AUV body
thrusters: Thruster configs for different thruster types

Launch

This package contains launchfiles for each specific AUV. Additionally topside.launch.py is used on the topside computer that the joystick is connected to, for ROV operations.

ros2 launch auv_setup topside.launch.py --orientation_mode:=your_argument

Argument	Default	Description
`orientation_mode`	`euler`	Types to choose from `euler` or `quat`

adaptive — launches dp_adapt_backs_controller with reference_filter_dp (Euler/RPY reference filter). Controller params are loaded from dp_adapt_backs_controller/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp.launch.py controller_type:=adaptive drone:=nautilus

adaptive_quat — launches dp_adapt_backs_controller with reference_filter_dp (Quaternion reference filter). Controller params are loaded from dp_adapt_backs_controller_quat/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp_quat.launch.py controller_type:=adaptive drone:=nautilus

dp.launch.py or dp_quat.launch.py

Both launch the DP (dynamic positioning) stack, consisting of a reference filter and a controller launched together in a composable node container to limit intra process communication and allow for shared memory.

ros2 launch auv_setup dp.launch.py

Argument	Default	Description
`drone`	`nautilus`	Drone model — loads `auv_setup/config/robots/<drone>.yaml`
`namespace`	`<drone>`	ROS namespace. Defaults to the drone name if left empty
`controller_type`	`adaptive`	Controller to use: `adaptive`, `adaptive_quat` or `pid`

adaptive — launches dp_adapt_backs_controller with reference_filter_dp (Euler/RPY reference filter). Controller params are loaded from dp_adapt_backs_controller/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp.launch.py controller_type:=adaptive drone:=nautilus

adaptive_quat — launches dp_adapt_backs_controller with reference_filter_dp (Quaternion reference filter). Controller params are loaded from dp_adapt_backs_controller_quat/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp_quat.launch.py controller_type:=adaptive drone:=nautilus

pid — launches pid_controller_dp with reference_filter_dp_quat (quaternion reference filter). Controller params are loaded from pid_controller_dp/config/pid_params.yaml.

ros2 launch auv_setup dp.launch.py controller_type:=pid drone:=nautilus

When using the joystick to send references, make sure orientation_mode in joystick_interface_auv matches the controller: use euler with adaptive and quat with pid.

Description

The description folder contains the URDF and xacro files for the AUVs. The main description launch file is drone_description.launch.py, which makes all static transforms available to the ros graph.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	xacro
	robot_state_publisher

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
landmark_server
waypoint_manager
odom_transformer

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `auv_setup` at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.

auv_setup package from vortex-auv repo

auv_setup dp_adapt_backs_controller dp_adapt_backs_controller_quat pid_controller_dp pid_controller_dp_euler velocity_controller_lqr ekf_pose_filtering line_filtering pose_action_server pose_filtering los_guidance reference_filter_dp reference_filter_dp_quat joystick_interface_auv keyboard_joy landmark_server operation_mode_manager waypoint_manager thrust_allocator_auv thruster_interface_auv odom_transformer

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/vortexntnu/vortex-auv.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-26
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The auv_setup package

Maintainers

alekskl01

Authors

No additional authors.

AUV setup

This package contains global configs and the main launchfiles. The reason for putting these in a separate package is to be able to reach the aforementioned files from anywhere in a simple manner.

Config

The config folder contains physical parameters related to the AUV and the environment

environments: Atmosphere, water density, gravity etc..
robots: Any and all physical constants directly related to the AUV body
thrusters: Thruster configs for different thruster types

Launch

This package contains launchfiles for each specific AUV. Additionally topside.launch.py is used on the topside computer that the joystick is connected to, for ROV operations.

ros2 launch auv_setup topside.launch.py --orientation_mode:=your_argument

Argument	Default	Description
`orientation_mode`	`euler`	Types to choose from `euler` or `quat`

adaptive — launches dp_adapt_backs_controller with reference_filter_dp (Euler/RPY reference filter). Controller params are loaded from dp_adapt_backs_controller/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp.launch.py controller_type:=adaptive drone:=nautilus

adaptive_quat — launches dp_adapt_backs_controller with reference_filter_dp (Quaternion reference filter). Controller params are loaded from dp_adapt_backs_controller_quat/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp_quat.launch.py controller_type:=adaptive drone:=nautilus

dp.launch.py or dp_quat.launch.py

Both launch the DP (dynamic positioning) stack, consisting of a reference filter and a controller launched together in a composable node container to limit intra process communication and allow for shared memory.

ros2 launch auv_setup dp.launch.py

Argument	Default	Description
`drone`	`nautilus`	Drone model — loads `auv_setup/config/robots/<drone>.yaml`
`namespace`	`<drone>`	ROS namespace. Defaults to the drone name if left empty
`controller_type`	`adaptive`	Controller to use: `adaptive`, `adaptive_quat` or `pid`

adaptive — launches dp_adapt_backs_controller with reference_filter_dp (Euler/RPY reference filter). Controller params are loaded from dp_adapt_backs_controller/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp.launch.py controller_type:=adaptive drone:=nautilus

adaptive_quat — launches dp_adapt_backs_controller with reference_filter_dp (Quaternion reference filter). Controller params are loaded from dp_adapt_backs_controller_quat/config/adapt_params_<drone>.yaml.

ros2 launch auv_setup dp_quat.launch.py controller_type:=adaptive drone:=nautilus

pid — launches pid_controller_dp with reference_filter_dp_quat (quaternion reference filter). Controller params are loaded from pid_controller_dp/config/pid_params.yaml.

ros2 launch auv_setup dp.launch.py controller_type:=pid drone:=nautilus

When using the joystick to send references, make sure orientation_mode in joystick_interface_auv matches the controller: use euler with adaptive and quat with pid.

Description

The description folder contains the URDF and xacro files for the AUVs. The main description launch file is drone_description.launch.py, which makes all static transforms available to the ros graph.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_python
	xacro
	robot_state_publisher

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
landmark_server
waypoint_manager
odom_transformer

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `auv_setup` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.

auv_setup package from vortex-auv repo

auv_setup dp_adapt_backs_controller dp_adapt_backs_controller_quat pid_controller_dp pid_controller_dp_euler velocity_controller_lqr ekf_pose_filtering line_filtering pose_action_server pose_filtering los_guidance reference_filter_dp reference_filter_dp_quat joystick_interface_auv keyboard_joy landmark_server operation_mode_manager waypoint_manager thrust_allocator_auv thruster_interface_auv odom_transformer

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/vortexntnu/vortex-auv.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-26
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The auv_setup package

Maintainers

alekskl01

Authors

No additional authors.