ROS Index
|
impedance_controller package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers |
ROS Distro
|
Package Summary
| Version | 0.4.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control. |
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
Impedance Controller
A chainable impedance controller. Given an AUV pose $g$ with velocity $\nu$, the implemented control law is given as follows
\tau = \tau_{\text{ref}} + \textbf{K}_\text{p}(g_\text{ref}^\top g)^{\vee} + \textbf{K}_\text{d}(\nu_\text{ref} - \nu)
where $\textbf{K}_p$ is the desired stiffness, and $\textbf{K}_d$ is the desired damping. This control law is commonly used as an inner-loop controller in an MPC framework. 1 2
Plugin Library
impedance_controller/ImpedanceController
References
- Target pose $g_\text{ref}$
- Target velocity $\nu_\text{ref}$
- Target force/torque $\tau_{\text{ref}}$
State Feedback
- Measured pose $g$
- Measured velocity $\nu$
Commands
The output of this controller are the desired forces/torques $\tau$
Subscribers
- impedance_controller/reference [auv_control_msgs::msg::ImpedanceCommand]
Publishers
- impedance_controller/status [control_msgs::msg::MultiDOFStateStamped]
-
I. Dadiotis, A. Laurenzi, and N. Tsagarakis. “Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped,” in IEEE International Conference on Humanoid Robots (Humanoids), 2023. ↩
-
J. -P. Sleiman, F. Farshidian, M. V. Minniti and M. Hutter, “A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation,” in IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 4688-4695, July 2021. ↩
Changelog for package impedance_controller
0.4.1 (2026-02-23)
- Addresses upstream deprecation of the
tf2_ros/buffer.handtf2_ros/transform_listener.hheaders.
0.4.0 (2025-08-01)
- Implements an impedance controller for underwater vehicle control
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged impedance_controller at Robotics Stack Exchange
|
|
impedance_controller package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers |
ROS Distro
|
Package Summary
| Version | 0.4.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control. |
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
Impedance Controller
A chainable impedance controller. Given an AUV pose $g$ with velocity $\nu$, the implemented control law is given as follows
\tau = \tau_{\text{ref}} + \textbf{K}_\text{p}(g_\text{ref}^\top g)^{\vee} + \textbf{K}_\text{d}(\nu_\text{ref} - \nu)
where $\textbf{K}_p$ is the desired stiffness, and $\textbf{K}_d$ is the desired damping. This control law is commonly used as an inner-loop controller in an MPC framework. 1 2
Plugin Library
impedance_controller/ImpedanceController
References
- Target pose $g_\text{ref}$
- Target velocity $\nu_\text{ref}$
- Target force/torque $\tau_{\text{ref}}$
State Feedback
- Measured pose $g$
- Measured velocity $\nu$
Commands
The output of this controller are the desired forces/torques $\tau$
Subscribers
- impedance_controller/reference [auv_control_msgs::msg::ImpedanceCommand]
Publishers
- impedance_controller/status [control_msgs::msg::MultiDOFStateStamped]
-
I. Dadiotis, A. Laurenzi, and N. Tsagarakis. “Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped,” in IEEE International Conference on Humanoid Robots (Humanoids), 2023. ↩
-
J. -P. Sleiman, F. Farshidian, M. V. Minniti and M. Hutter, “A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation,” in IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 4688-4695, July 2021. ↩
Changelog for package impedance_controller
0.4.1 (2026-02-23)
- Addresses upstream deprecation of the
tf2_ros/buffer.handtf2_ros/transform_listener.hheaders.
0.4.0 (2025-08-01)
- Implements an impedance controller for underwater vehicle control
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged impedance_controller at Robotics Stack Exchange
|
|
impedance_controller package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers |
ROS Distro
|
Package Summary
| Version | 0.4.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control. |
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
Impedance Controller
A chainable impedance controller. Given an AUV pose $g$ with velocity $\nu$, the implemented control law is given as follows
\tau = \tau_{\text{ref}} + \textbf{K}_\text{p}(g_\text{ref}^\top g)^{\vee} + \textbf{K}_\text{d}(\nu_\text{ref} - \nu)
where $\textbf{K}_p$ is the desired stiffness, and $\textbf{K}_d$ is the desired damping. This control law is commonly used as an inner-loop controller in an MPC framework. 1 2
Plugin Library
impedance_controller/ImpedanceController
References
- Target pose $g_\text{ref}$
- Target velocity $\nu_\text{ref}$
- Target force/torque $\tau_{\text{ref}}$
State Feedback
- Measured pose $g$
- Measured velocity $\nu$
Commands
The output of this controller are the desired forces/torques $\tau$
Subscribers
- impedance_controller/reference [auv_control_msgs::msg::ImpedanceCommand]
Publishers
- impedance_controller/status [control_msgs::msg::MultiDOFStateStamped]
-
I. Dadiotis, A. Laurenzi, and N. Tsagarakis. “Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped,” in IEEE International Conference on Humanoid Robots (Humanoids), 2023. ↩
-
J. -P. Sleiman, F. Farshidian, M. V. Minniti and M. Hutter, “A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation,” in IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 4688-4695, July 2021. ↩
Changelog for package impedance_controller
0.4.1 (2026-02-23)
- Addresses upstream deprecation of the
tf2_ros/buffer.handtf2_ros/transform_listener.hheaders.
0.4.0 (2025-08-01)
- Implements an impedance controller for underwater vehicle control
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged impedance_controller at Robotics Stack Exchange
|
|
impedance_controller package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers |
ROS Distro
|
Package Summary
| Version | 0.4.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control. |
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
Impedance Controller
A chainable impedance controller. Given an AUV pose $g$ with velocity $\nu$, the implemented control law is given as follows
\tau = \tau_{\text{ref}} + \textbf{K}_\text{p}(g_\text{ref}^\top g)^{\vee} + \textbf{K}_\text{d}(\nu_\text{ref} - \nu)
where $\textbf{K}_p$ is the desired stiffness, and $\textbf{K}_d$ is the desired damping. This control law is commonly used as an inner-loop controller in an MPC framework. 1 2
Plugin Library
impedance_controller/ImpedanceController
References
- Target pose $g_\text{ref}$
- Target velocity $\nu_\text{ref}$
- Target force/torque $\tau_{\text{ref}}$
State Feedback
- Measured pose $g$
- Measured velocity $\nu$
Commands
The output of this controller are the desired forces/torques $\tau$
Subscribers
- impedance_controller/reference [auv_control_msgs::msg::ImpedanceCommand]
Publishers
- impedance_controller/status [control_msgs::msg::MultiDOFStateStamped]
-
I. Dadiotis, A. Laurenzi, and N. Tsagarakis. “Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped,” in IEEE International Conference on Humanoid Robots (Humanoids), 2023. ↩
-
J. -P. Sleiman, F. Farshidian, M. V. Minniti and M. Hutter, “A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation,” in IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 4688-4695, July 2021. ↩
Changelog for package impedance_controller
0.4.1 (2026-02-23)
- Addresses upstream deprecation of the
tf2_ros/buffer.handtf2_ros/transform_listener.hheaders.
0.4.0 (2025-08-01)
- Implements an impedance controller for underwater vehicle control
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged impedance_controller at Robotics Stack Exchange
|
|
impedance_controller package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers |
ROS Distro
|
Package Summary
| Version | 0.4.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control. |
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
Impedance Controller
A chainable impedance controller. Given an AUV pose $g$ with velocity $\nu$, the implemented control law is given as follows
\tau = \tau_{\text{ref}} + \textbf{K}_\text{p}(g_\text{ref}^\top g)^{\vee} + \textbf{K}_\text{d}(\nu_\text{ref} - \nu)
where $\textbf{K}_p$ is the desired stiffness, and $\textbf{K}_d$ is the desired damping. This control law is commonly used as an inner-loop controller in an MPC framework. 1 2
Plugin Library
impedance_controller/ImpedanceController
References
- Target pose $g_\text{ref}$
- Target velocity $\nu_\text{ref}$
- Target force/torque $\tau_{\text{ref}}$
State Feedback
- Measured pose $g$
- Measured velocity $\nu$
Commands
The output of this controller are the desired forces/torques $\tau$
Subscribers
- impedance_controller/reference [auv_control_msgs::msg::ImpedanceCommand]
Publishers
- impedance_controller/status [control_msgs::msg::MultiDOFStateStamped]
-
I. Dadiotis, A. Laurenzi, and N. Tsagarakis. “Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped,” in IEEE International Conference on Humanoid Robots (Humanoids), 2023. ↩
-
J. -P. Sleiman, F. Farshidian, M. V. Minniti and M. Hutter, “A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation,” in IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 4688-4695, July 2021. ↩
Changelog for package impedance_controller
0.4.1 (2026-02-23)
- Addresses upstream deprecation of the
tf2_ros/buffer.handtf2_ros/transform_listener.hheaders.
0.4.0 (2025-08-01)
- Implements an impedance controller for underwater vehicle control
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged impedance_controller at Robotics Stack Exchange
|
|
impedance_controller package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers |
ROS Distro
|
Package Summary
| Version | 0.4.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control. |
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
Impedance Controller
A chainable impedance controller. Given an AUV pose $g$ with velocity $\nu$, the implemented control law is given as follows
\tau = \tau_{\text{ref}} + \textbf{K}_\text{p}(g_\text{ref}^\top g)^{\vee} + \textbf{K}_\text{d}(\nu_\text{ref} - \nu)
where $\textbf{K}_p$ is the desired stiffness, and $\textbf{K}_d$ is the desired damping. This control law is commonly used as an inner-loop controller in an MPC framework. 1 2
Plugin Library
impedance_controller/ImpedanceController
References
- Target pose $g_\text{ref}$
- Target velocity $\nu_\text{ref}$
- Target force/torque $\tau_{\text{ref}}$
State Feedback
- Measured pose $g$
- Measured velocity $\nu$
Commands
The output of this controller are the desired forces/torques $\tau$
Subscribers
- impedance_controller/reference [auv_control_msgs::msg::ImpedanceCommand]
Publishers
- impedance_controller/status [control_msgs::msg::MultiDOFStateStamped]
-
I. Dadiotis, A. Laurenzi, and N. Tsagarakis. “Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped,” in IEEE International Conference on Humanoid Robots (Humanoids), 2023. ↩
-
J. -P. Sleiman, F. Farshidian, M. V. Minniti and M. Hutter, “A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation,” in IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 4688-4695, July 2021. ↩
Changelog for package impedance_controller
0.4.1 (2026-02-23)
- Addresses upstream deprecation of the
tf2_ros/buffer.handtf2_ros/transform_listener.hheaders.
0.4.0 (2025-08-01)
- Implements an impedance controller for underwater vehicle control
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged impedance_controller at Robotics Stack Exchange
|
|
impedance_controller package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers |
ROS Distro
|
Package Summary
| Version | 0.4.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control. |
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
Impedance Controller
A chainable impedance controller. Given an AUV pose $g$ with velocity $\nu$, the implemented control law is given as follows
\tau = \tau_{\text{ref}} + \textbf{K}_\text{p}(g_\text{ref}^\top g)^{\vee} + \textbf{K}_\text{d}(\nu_\text{ref} - \nu)
where $\textbf{K}_p$ is the desired stiffness, and $\textbf{K}_d$ is the desired damping. This control law is commonly used as an inner-loop controller in an MPC framework. 1 2
Plugin Library
impedance_controller/ImpedanceController
References
- Target pose $g_\text{ref}$
- Target velocity $\nu_\text{ref}$
- Target force/torque $\tau_{\text{ref}}$
State Feedback
- Measured pose $g$
- Measured velocity $\nu$
Commands
The output of this controller are the desired forces/torques $\tau$
Subscribers
- impedance_controller/reference [auv_control_msgs::msg::ImpedanceCommand]
Publishers
- impedance_controller/status [control_msgs::msg::MultiDOFStateStamped]
-
I. Dadiotis, A. Laurenzi, and N. Tsagarakis. “Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped,” in IEEE International Conference on Humanoid Robots (Humanoids), 2023. ↩
-
J. -P. Sleiman, F. Farshidian, M. V. Minniti and M. Hutter, “A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation,” in IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 4688-4695, July 2021. ↩
Changelog for package impedance_controller
0.4.1 (2026-02-23)
- Addresses upstream deprecation of the
tf2_ros/buffer.handtf2_ros/transform_listener.hheaders.
0.4.0 (2025-08-01)
- Implements an impedance controller for underwater vehicle control
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged impedance_controller at Robotics Stack Exchange
|
|
impedance_controller package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers |
ROS Distro
|
Package Summary
| Version | 0.4.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control. |
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
Impedance Controller
A chainable impedance controller. Given an AUV pose $g$ with velocity $\nu$, the implemented control law is given as follows
\tau = \tau_{\text{ref}} + \textbf{K}_\text{p}(g_\text{ref}^\top g)^{\vee} + \textbf{K}_\text{d}(\nu_\text{ref} - \nu)
where $\textbf{K}_p$ is the desired stiffness, and $\textbf{K}_d$ is the desired damping. This control law is commonly used as an inner-loop controller in an MPC framework. 1 2
Plugin Library
impedance_controller/ImpedanceController
References
- Target pose $g_\text{ref}$
- Target velocity $\nu_\text{ref}$
- Target force/torque $\tau_{\text{ref}}$
State Feedback
- Measured pose $g$
- Measured velocity $\nu$
Commands
The output of this controller are the desired forces/torques $\tau$
Subscribers
- impedance_controller/reference [auv_control_msgs::msg::ImpedanceCommand]
Publishers
- impedance_controller/status [control_msgs::msg::MultiDOFStateStamped]
-
I. Dadiotis, A. Laurenzi, and N. Tsagarakis. “Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped,” in IEEE International Conference on Humanoid Robots (Humanoids), 2023. ↩
-
J. -P. Sleiman, F. Farshidian, M. V. Minniti and M. Hutter, “A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation,” in IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 4688-4695, July 2021. ↩
Changelog for package impedance_controller
0.4.1 (2026-02-23)
- Addresses upstream deprecation of the
tf2_ros/buffer.handtf2_ros/transform_listener.hheaders.
0.4.0 (2025-08-01)
- Implements an impedance controller for underwater vehicle control
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged impedance_controller at Robotics Stack Exchange
|
|
impedance_controller package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers |
ROS Distro
|
Package Summary
| Version | 0.4.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control. |
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
Impedance Controller
A chainable impedance controller. Given an AUV pose $g$ with velocity $\nu$, the implemented control law is given as follows
\tau = \tau_{\text{ref}} + \textbf{K}_\text{p}(g_\text{ref}^\top g)^{\vee} + \textbf{K}_\text{d}(\nu_\text{ref} - \nu)
where $\textbf{K}_p$ is the desired stiffness, and $\textbf{K}_d$ is the desired damping. This control law is commonly used as an inner-loop controller in an MPC framework. 1 2
Plugin Library
impedance_controller/ImpedanceController
References
- Target pose $g_\text{ref}$
- Target velocity $\nu_\text{ref}$
- Target force/torque $\tau_{\text{ref}}$
State Feedback
- Measured pose $g$
- Measured velocity $\nu$
Commands
The output of this controller are the desired forces/torques $\tau$
Subscribers
- impedance_controller/reference [auv_control_msgs::msg::ImpedanceCommand]
Publishers
- impedance_controller/status [control_msgs::msg::MultiDOFStateStamped]
-
I. Dadiotis, A. Laurenzi, and N. Tsagarakis. “Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped,” in IEEE International Conference on Humanoid Robots (Humanoids), 2023. ↩
-
J. -P. Sleiman, F. Farshidian, M. V. Minniti and M. Hutter, “A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation,” in IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 4688-4695, July 2021. ↩
Changelog for package impedance_controller
0.4.1 (2026-02-23)
- Addresses upstream deprecation of the
tf2_ros/buffer.handtf2_ros/transform_listener.hheaders.
0.4.0 (2025-08-01)
- Implements an impedance controller for underwater vehicle control
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |