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thruster_interface_auv 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 thrust_allocator_auv thruster_interface_auv

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Package Summary

Tags	No category tags.
Version	1.0.0
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	2025-10-19
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	robot ubuntu ros finite-state-machine autonomous sensor-fusion auv robosub robot-localization motion-control pathplanning autonomous-robots vortex-auv
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Thruster interface to control thrusters through PCA9685 Module via i2c, mapping force values to pwm values

Additional Links

No additional links.

Maintainers

vortex

Authors

No additional authors.

motion/thruster_interface_auv/README.md

Thruster Interface AUV

This package provides an interface for controlling the thrusters of orca converting forces values to pwm values. The mapping is based on a piecewise third order polynomial approximating the datasheet .csv table found in /resources. Values send via i2c protocol.

NOTE: Possibility to extend the handling based on the current operating voltage exists, not implemented as for now.

Usage

source install/setup.bash
ros2 launch thruster_interface_auv thruster_interface_auv.launch.py

Structure

Nodes

thruster_interface_auv_node.cpp contains the main loop of the node
thruster_interface_auv_ros.cpp contains the implementation of the node dependent on ros2 creating a subscriber for thruster forces, a publisher for pwm values, and a driver for handling the mapping. Initialize everything extracting all the parameters from .yaml file found in ../auv_setup/config/robots/orca.yaml and /config/thruster_interface_auv_config.yaml.
thruster_interface_auv_driver.cpp contains the pure .cpp implementation for the mapping, conversion for i2c data format, and sending those values.

Topics

subscribe to: /orca/thruster_forces [vortex_msgs/msg/ThrusterForce] – array of forces to apply to each thruster.
publish: /orca/pwm [std_msgs/msg/Int16MultiArray] – pwm command value to apply that force.

Config

Edit ../auv_setup/config/robots/orca.yaml for thruster parameters like mapping, direction, pwm_min and max.
Edit /config/thruster_interface_auv_config.yaml for i2c bus and address, and polynomial coefficients for the mapping.

Contact

For questions or support, please contact albertomorselli00@gmail.com.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	std_msgs
	vortex_msgs
	vortex_utils

System Dependencies

No direct system dependencies.

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.

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