pid_controller_dp - ROS Package Overview

Package Summary

Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Software for guidance, navigation and control for the Vortex AUVs. Purpose built for competing in AUV/ROV competitions.
Checkout URI	https://github.com/vortexntnu/vortex-auv.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-23
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

PID controller for DP

Maintainers

andeshog

Authors

No additional authors.

PID controller

The PID controller is defined

\tau = -J_{q}^{\dagger}(K_p \tilde{\eta} + K_d \dot{\tilde{\eta}} + K_i \int^t_0 \tilde{\eta}(\tau)d\tau)

where $\tau$ is the control input, $\tilde{\eta} = \eta - \eta_d$ is the pose error, $J_q$ is the quaternion based Jacobian matrix and $K_p$, $K_d$ and $K_i$ are tuning matrices.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	geometry_msgs
	nav_msgs
	tf2
	vortex_msgs
	vortex_utils
	vortex_utils_ros

System Dependencies

Name
eigen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `pid_controller_dp` at Robotics Stack Exchange

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

pid_controller_dp package from vortex-auv repo

auv_setup dp_adapt_backs_controller pid_controller_dp pid_controller_dp_euler velocity_controller_lqr ekf_pose_filtering pose_action_server los_guidance reference_filter_dp docking joystick_interface_auv keyboard_joy operation_mode_manager waypoint_manager thrust_allocator_auv thruster_interface_auv

ROS Distro
github

Package Summary

Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Software for guidance, navigation and control for the Vortex AUVs. Purpose built for competing in AUV/ROV competitions.
Checkout URI	https://github.com/vortexntnu/vortex-auv.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-23
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

PID controller for DP

Maintainers

andeshog

Authors

No additional authors.

PID controller

The PID controller is defined

\tau = -J_{q}^{\dagger}(K_p \tilde{\eta} + K_d \dot{\tilde{\eta}} + K_i \int^t_0 \tilde{\eta}(\tau)d\tau)

where $\tau$ is the control input, $\tilde{\eta} = \eta - \eta_d$ is the pose error, $J_q$ is the quaternion based Jacobian matrix and $K_p$, $K_d$ and $K_i$ are tuning matrices.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	geometry_msgs
	nav_msgs
	tf2
	vortex_msgs
	vortex_utils
	vortex_utils_ros

System Dependencies

Name
eigen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `pid_controller_dp` at Robotics Stack Exchange

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

pid_controller_dp package from vortex-auv repo

auv_setup dp_adapt_backs_controller pid_controller_dp pid_controller_dp_euler velocity_controller_lqr ekf_pose_filtering pose_action_server los_guidance reference_filter_dp docking joystick_interface_auv keyboard_joy operation_mode_manager waypoint_manager thrust_allocator_auv thruster_interface_auv

ROS Distro
github

Package Summary

Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Software for guidance, navigation and control for the Vortex AUVs. Purpose built for competing in AUV/ROV competitions.
Checkout URI	https://github.com/vortexntnu/vortex-auv.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-23
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

PID controller for DP

Maintainers

andeshog

Authors

No additional authors.

PID controller

The PID controller is defined

\tau = -J_{q}^{\dagger}(K_p \tilde{\eta} + K_d \dot{\tilde{\eta}} + K_i \int^t_0 \tilde{\eta}(\tau)d\tau)

where $\tau$ is the control input, $\tilde{\eta} = \eta - \eta_d$ is the pose error, $J_q$ is the quaternion based Jacobian matrix and $K_p$, $K_d$ and $K_i$ are tuning matrices.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	geometry_msgs
	nav_msgs
	tf2
	vortex_msgs
	vortex_utils
	vortex_utils_ros

System Dependencies

Name
eigen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `pid_controller_dp` at Robotics Stack Exchange

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

pid_controller_dp package from vortex-auv repo

auv_setup dp_adapt_backs_controller pid_controller_dp pid_controller_dp_euler velocity_controller_lqr ekf_pose_filtering pose_action_server los_guidance reference_filter_dp docking joystick_interface_auv keyboard_joy operation_mode_manager waypoint_manager thrust_allocator_auv thruster_interface_auv

ROS Distro
github

Package Summary

Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Software for guidance, navigation and control for the Vortex AUVs. Purpose built for competing in AUV/ROV competitions.
Checkout URI	https://github.com/vortexntnu/vortex-auv.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-23
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

PID controller for DP

Maintainers

andeshog

Authors

No additional authors.

PID controller

The PID controller is defined

\tau = -J_{q}^{\dagger}(K_p \tilde{\eta} + K_d \dot{\tilde{\eta}} + K_i \int^t_0 \tilde{\eta}(\tau)d\tau)

where $\tau$ is the control input, $\tilde{\eta} = \eta - \eta_d$ is the pose error, $J_q$ is the quaternion based Jacobian matrix and $K_p$, $K_d$ and $K_i$ are tuning matrices.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	geometry_msgs
	nav_msgs
	tf2
	vortex_msgs
	vortex_utils
	vortex_utils_ros

System Dependencies

Name
eigen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `pid_controller_dp` at Robotics Stack Exchange

pid_controller_dp package from vortex-auv repo

auv_setup dp_adapt_backs_controller pid_controller_dp pid_controller_dp_euler velocity_controller_lqr ekf_pose_filtering pose_action_server los_guidance reference_filter_dp docking joystick_interface_auv keyboard_joy operation_mode_manager waypoint_manager thrust_allocator_auv thruster_interface_auv

ROS Distro
github

Package Summary

Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Software for guidance, navigation and control for the Vortex AUVs. Purpose built for competing in AUV/ROV competitions.
Checkout URI	https://github.com/vortexntnu/vortex-auv.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-23
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

PID controller for DP

Maintainers

andeshog

Authors

No additional authors.

PID controller

The PID controller is defined

\tau = -J_{q}^{\dagger}(K_p \tilde{\eta} + K_d \dot{\tilde{\eta}} + K_i \int^t_0 \tilde{\eta}(\tau)d\tau)

where $\tau$ is the control input, $\tilde{\eta} = \eta - \eta_d$ is the pose error, $J_q$ is the quaternion based Jacobian matrix and $K_p$, $K_d$ and $K_i$ are tuning matrices.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	geometry_msgs
	nav_msgs
	tf2
	vortex_msgs
	vortex_utils
	vortex_utils_ros

System Dependencies

Name
eigen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `pid_controller_dp` at Robotics Stack Exchange

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

pid_controller_dp package from vortex-auv repo

auv_setup dp_adapt_backs_controller pid_controller_dp pid_controller_dp_euler velocity_controller_lqr ekf_pose_filtering pose_action_server los_guidance reference_filter_dp docking joystick_interface_auv keyboard_joy operation_mode_manager waypoint_manager thrust_allocator_auv thruster_interface_auv

ROS Distro
github

Package Summary

Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Software for guidance, navigation and control for the Vortex AUVs. Purpose built for competing in AUV/ROV competitions.
Checkout URI	https://github.com/vortexntnu/vortex-auv.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-23
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

PID controller for DP

Maintainers

andeshog

Authors

No additional authors.

PID controller

The PID controller is defined

\tau = -J_{q}^{\dagger}(K_p \tilde{\eta} + K_d \dot{\tilde{\eta}} + K_i \int^t_0 \tilde{\eta}(\tau)d\tau)

where $\tau$ is the control input, $\tilde{\eta} = \eta - \eta_d$ is the pose error, $J_q$ is the quaternion based Jacobian matrix and $K_p$, $K_d$ and $K_i$ are tuning matrices.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	geometry_msgs
	nav_msgs
	tf2
	vortex_msgs
	vortex_utils
	vortex_utils_ros

System Dependencies

Name
eigen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `pid_controller_dp` at Robotics Stack Exchange

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

pid_controller_dp package from vortex-auv repo

auv_setup dp_adapt_backs_controller pid_controller_dp pid_controller_dp_euler velocity_controller_lqr ekf_pose_filtering pose_action_server los_guidance reference_filter_dp docking joystick_interface_auv keyboard_joy operation_mode_manager waypoint_manager thrust_allocator_auv thruster_interface_auv

ROS Distro
github

Package Summary

Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Software for guidance, navigation and control for the Vortex AUVs. Purpose built for competing in AUV/ROV competitions.
Checkout URI	https://github.com/vortexntnu/vortex-auv.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-23
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

PID controller for DP

Maintainers

andeshog

Authors

No additional authors.

PID controller

The PID controller is defined

\tau = -J_{q}^{\dagger}(K_p \tilde{\eta} + K_d \dot{\tilde{\eta}} + K_i \int^t_0 \tilde{\eta}(\tau)d\tau)

where $\tau$ is the control input, $\tilde{\eta} = \eta - \eta_d$ is the pose error, $J_q$ is the quaternion based Jacobian matrix and $K_p$, $K_d$ and $K_i$ are tuning matrices.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	geometry_msgs
	nav_msgs
	tf2
	vortex_msgs
	vortex_utils
	vortex_utils_ros

System Dependencies

Name
eigen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `pid_controller_dp` at Robotics Stack Exchange

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

pid_controller_dp package from vortex-auv repo

auv_setup dp_adapt_backs_controller pid_controller_dp pid_controller_dp_euler velocity_controller_lqr ekf_pose_filtering pose_action_server los_guidance reference_filter_dp docking joystick_interface_auv keyboard_joy operation_mode_manager waypoint_manager thrust_allocator_auv thruster_interface_auv

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	Software for guidance, navigation and control for the Vortex AUVs. Purpose built for competing in AUV/ROV competitions.
Checkout URI	https://github.com/vortexntnu/vortex-auv.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-23
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

PID controller for DP

Maintainers

andeshog

Authors

No additional authors.

PID controller

The PID controller is defined

\tau = -J_{q}^{\dagger}(K_p \tilde{\eta} + K_d \dot{\tilde{\eta}} + K_i \int^t_0 \tilde{\eta}(\tau)d\tau)

where $\tau$ is the control input, $\tilde{\eta} = \eta - \eta_d$ is the pose error, $J_q$ is the quaternion based Jacobian matrix and $K_p$, $K_d$ and $K_i$ are tuning matrices.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	geometry_msgs
	nav_msgs
	tf2
	vortex_msgs
	vortex_utils
	vortex_utils_ros

System Dependencies

Name
eigen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `pid_controller_dp` 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.

pid_controller_dp package from vortex-auv repo

auv_setup dp_adapt_backs_controller pid_controller_dp pid_controller_dp_euler velocity_controller_lqr ekf_pose_filtering pose_action_server los_guidance reference_filter_dp docking joystick_interface_auv keyboard_joy operation_mode_manager waypoint_manager thrust_allocator_auv thruster_interface_auv

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	Software for guidance, navigation and control for the Vortex AUVs. Purpose built for competing in AUV/ROV competitions.
Checkout URI	https://github.com/vortexntnu/vortex-auv.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-23
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

PID controller for DP

Maintainers

andeshog

Authors

No additional authors.