Twist Controllers

This package provides a collection of velocity controllers, which calculate control commands (e.g., a wrench) needed to track a velocity reference signal.

Adaptive Integral Terminal Sliding Mode Controller

A chainable controller designed by Gonzalez-Garcia and Castaneda ¹ that provides robustness to disturbances using a dynamically adapted disturbance rejection torques.

[!NOTE] The integral sliding mode controller requires that the AUV hydrodynamic parameters be included in the robot description file using the format described by the hydrodynamics library.

Mode Control for an Unmanned Surface Vehicle Against External Disturbances”, in IFAC-PapersOnline, 2021.

Plugin Library

twist_controllers/adaptive_integral_terminal_sliding_mode_controller

References

• Target velocity V_ref: v_xref, v_yref, v_zref, w_rxref, w_ryref, w_rzref [m/s and rad/s]

State Feedback

• Measured velocity V: v_x, v_y, v_z, w_rx, w_ry, w_rz [m/s and rad/s]
• Vehicle orientation measured with respect to the inertial frame Q: q_x, q_y, q_z, q_w

Commands

The output of this controller is a wrench with force components F_x, F_y, F_z and torque components T_rx, T_ry, T_rz in N and Nm, respectively.

Subscribers

• adaptive_integral_terminal_sliding_mode_controller/reference [geometry_msgs::msg::Twist]
• adaptive_integral_terminal_sliding_mode_controller/system_state [nav_msgs::msg::Odometry]

Publishers

• adaptive_integral_terminal_sliding_mode_controller/status [control_msgs::msg::MultiDOFStateStamped]

Integral Sliding Mode Controller

A chainable dynamic controller designed by Palmer et al. ² that provides robustness to matched uncertainties and attenuates chatter.

[!NOTE] The adaptive integral terminal sliding mode controller requires that the AUV hydrodynamic parameters be included in the robot description file using the format described by the hydrodynamics library.

Intervention Tasks with Lightweight Underwater Vehicle Manipulator Systems,” in IEEE International Conference on Robotics and Automation (ICRA), 2024.

Plugin Library

twist_controllers/integral_sliding_mode_controller

References

• Target velocity V_ref: v_xref, v_yref, v_zref, w_rxref, w_ryref, w_rzref [m/s and rad/s]

State Feedback

• Measured velocity V: v_x, v_y, v_z, w_rx, w_ry, w_rz [m/s and rad/s]
• Vehicle orientation measured with respect to the inertial frame Q: q_x, q_y, q_z, q_w

Commands

The output of this controller is a wrench with force components F_x, F_y, F_z and torque components T_rx, T_ry, T_rz in N and Nm, respectively.

Subscribers

• integral_sliding_mode_controller/reference [geometry_msgs::msg::Twist]
• integral_sliding_mode_controller/system_state [nav_msgs::msg::Odometry]

Publishers

File truncated at 100 lines see the full file

Changelog for package twist_controllers

0.5.1 (2026-08-14)

• Declares dependencies that were previously pulled in transitively

0.5.0 (2026-05-29)

• Rename velocity_controllers to twist_controllers to avoid name collision with ros2_controllers.

0.4.3 (2026-04-25)

0.4.2 (2026-03-30)

0.4.1 (2026-02-23)

• Addresses upstream deprecation of the tf2_ros/buffer.h and tf2_ros/transform_listener.h headers.

0.4.0 (2025-08-01)

0.3.3 (2025-07-29)

0.3.2 (2025-07-22)

• Replaces the deprecated unlockAndPublish API with try_publish

0.3.1 (2025-07-09)

0.3.0 (2025-06-07)

0.2.1 (2025-06-03)

0.2.0 (2025-05-03)

0.1.0 (2025-04-27)

• Updates the API to use C++ 23
• Bumps the minimum CMake version to CMake 23
• Implements the adaptive integral terminal sliding mode controller
• Changes the integral sliding mode controller external state message interface from the geometry_msgs/TwistStamped message type to nav_msgs/Odometry
• Makes the integral sliding mode controller joint names configurable for users that want to integrate prefixes into the command/state interfaces
• Updates the integral sliding mode controller to use the latest hydrodynamics parsing capabilities