ROS IndexNo version for distro humble showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 0.6.1 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Open source simulator for maritime robotics researchers |
| Checkout URI | https://github.com/liquid-ai/plankton.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-11-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | simulator robotics simulation liquid ros plankton ros2 maritime liquid-ai user-needs |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The uuv_trajectory_control package
Additional Links
No additional links.
Maintainers
- Jean-Philip Royer
- Loïc Mougeolle
Authors
- Jean-Philip Royer
- Loïc Mougeolle
- Musa Morena Marcusso Manhaes
- Sebastian Scherer
- Luiz Ricardo Douat
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| geometry_msgs | |
| nav_msgs | |
| plankton_utils | |
| rclpy | |
| std_msgs | |
| tf2 | |
| tf2_ros | |
| uuv_assistants | |
| uuv_control_msgs | |
| visualization_msgs | |
| ament_cmake_pytest |
System Dependencies
Dependant Packages
Launch files
- launch/auv_geometric_tracking_controller.launch
-
- uuv_name
- use_params_file [default: false]
- gui_on [default: true]
- use_ned_frame [default: false]
- max_forward_speed [default: 2]
- dubins_radius [default: 10]
- dubins_max_pitch [default: 0.09]
- min_thrust [default: 70]
- max_thrust [default: 200]
- thruster_topic [default: thrusters/id_0/input]
- thrust_p_gain [default: 1]
- thrust_d_gain [default: 1]
- gain_roll [default: 1]
- gain_pitch [default: 1]
- gain_yaw [default: 1]
- n_fins [default: 4]
- map_roll [default: 0,0,0,0]
- map_pitch [default: 0,0,0,0]
- map_yaw [default: 0,0,0,0]
- max_fin_angle [default: 0.0]
- fin_topic_prefix [default: fins]
- fin_topic_suffix [default: input]
- idle_radius [default: 10.0]
- look_ahead_delay [default: 5.0]
- desired_pitch_limit [default: 0.26]
- yaw_error_limit [default: 1.0]
- thruster_topic_prefix [default: thrusters]
- thruster_topic_suffix [default: input]
- thruster_frame_base [default: thruster_]
- thruster_conversion_fcn [default: proportional]
- thruster_gain [default: 0.0]
- thruster_input [default: 0,1,2,3]
- thruster_output [default: 0,1,2,3]
- launch/rov_mb_fl_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 19987.218,19987.218,19987.218,19460.293,19460.293,19460.293]
- Kd [default: 11458.051,11458.051,11458.051,17068.778,17068.778,17068.778]
- Ki [default: 1689.976,1689.976,1689.976,186.198,186.198,186.198]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_mb_sm_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- lambda [default: 10,10,10,10,10,10]
- rho_constant [default: 10000,10000,10000,10000,10000,10000]
- k [default: 500,500,500,500,500,500]
- c [default: 50,50,50,1,1,1]
- adapt_slope [default: 100,10,10]
- rho_0 [default: 3000,3000,8000,1500,1500,8000]
- drift_prevent [default: 0.03]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/mb_sm/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_nl_pid_controller.launch
-
- uuv_name
- model_name
- saturation [default: 6000]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 6017.059667616178,6017.059667616178,6017.059667616178,9731.391095849109,9731.391095849109,9731.391095849109]
- Kd [default: 2682.9509286089447,2682.9509286089447,2682.9509286089447,9440.462338720527,9440.462338720527,9440.462338720527]
- Ki [default: 0,0,0,0,0,0]
- Hm [default: 1657.655912647713,1657.655912647713,1657.655912647713,4193.901741127024,4193.901741127024,4193.901741127024]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/nl_pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_nmb_sm_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- max_forward_speed [default: 0.5]
- K [default: 5,5,5,5,5,5]
- Kd [default: 4118.98,4118.98,4118.98,8000.0,8000.0,8000.0]
- Ki [default: 0.06144,0.06144,0.06144,0.078,0.078,0.078]
- slope [default: 0.182,0.182,0.182,3.348,3.348,3.348]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/nmb_sm/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_pd_grav_compensation_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069]
- Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_pid_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069]
- Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925]
- Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_sf_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 5000]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kd [default: 100.0,100.0,100.0,100.0,100.0,100.0]
- lambda [default: 1.0]
- c [default: 1.0]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_ua_pid_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- use_params_file [default: false]
- gui_on [default: true]
- Kp [default: 10.0,10.0,10.0,10.0]
- Kd [default: 1.0,1.0,1.0,1.0]
- Ki [default: 0.5,0.5,0.5,0.5]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/ua_pid/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged uuv_trajectory_control at Robotics Stack Exchange
No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 0.6.1 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Open source simulator for maritime robotics researchers |
| Checkout URI | https://github.com/liquid-ai/plankton.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-11-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | simulator robotics simulation liquid ros plankton ros2 maritime liquid-ai user-needs |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The uuv_trajectory_control package
Additional Links
No additional links.
Maintainers
- Jean-Philip Royer
- Loïc Mougeolle
Authors
- Jean-Philip Royer
- Loïc Mougeolle
- Musa Morena Marcusso Manhaes
- Sebastian Scherer
- Luiz Ricardo Douat
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| geometry_msgs | |
| nav_msgs | |
| plankton_utils | |
| rclpy | |
| std_msgs | |
| tf2 | |
| tf2_ros | |
| uuv_assistants | |
| uuv_control_msgs | |
| visualization_msgs | |
| ament_cmake_pytest |
System Dependencies
Dependant Packages
Launch files
- launch/auv_geometric_tracking_controller.launch
-
- uuv_name
- use_params_file [default: false]
- gui_on [default: true]
- use_ned_frame [default: false]
- max_forward_speed [default: 2]
- dubins_radius [default: 10]
- dubins_max_pitch [default: 0.09]
- min_thrust [default: 70]
- max_thrust [default: 200]
- thruster_topic [default: thrusters/id_0/input]
- thrust_p_gain [default: 1]
- thrust_d_gain [default: 1]
- gain_roll [default: 1]
- gain_pitch [default: 1]
- gain_yaw [default: 1]
- n_fins [default: 4]
- map_roll [default: 0,0,0,0]
- map_pitch [default: 0,0,0,0]
- map_yaw [default: 0,0,0,0]
- max_fin_angle [default: 0.0]
- fin_topic_prefix [default: fins]
- fin_topic_suffix [default: input]
- idle_radius [default: 10.0]
- look_ahead_delay [default: 5.0]
- desired_pitch_limit [default: 0.26]
- yaw_error_limit [default: 1.0]
- thruster_topic_prefix [default: thrusters]
- thruster_topic_suffix [default: input]
- thruster_frame_base [default: thruster_]
- thruster_conversion_fcn [default: proportional]
- thruster_gain [default: 0.0]
- thruster_input [default: 0,1,2,3]
- thruster_output [default: 0,1,2,3]
- launch/rov_mb_fl_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 19987.218,19987.218,19987.218,19460.293,19460.293,19460.293]
- Kd [default: 11458.051,11458.051,11458.051,17068.778,17068.778,17068.778]
- Ki [default: 1689.976,1689.976,1689.976,186.198,186.198,186.198]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_mb_sm_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- lambda [default: 10,10,10,10,10,10]
- rho_constant [default: 10000,10000,10000,10000,10000,10000]
- k [default: 500,500,500,500,500,500]
- c [default: 50,50,50,1,1,1]
- adapt_slope [default: 100,10,10]
- rho_0 [default: 3000,3000,8000,1500,1500,8000]
- drift_prevent [default: 0.03]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/mb_sm/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_nl_pid_controller.launch
-
- uuv_name
- model_name
- saturation [default: 6000]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 6017.059667616178,6017.059667616178,6017.059667616178,9731.391095849109,9731.391095849109,9731.391095849109]
- Kd [default: 2682.9509286089447,2682.9509286089447,2682.9509286089447,9440.462338720527,9440.462338720527,9440.462338720527]
- Ki [default: 0,0,0,0,0,0]
- Hm [default: 1657.655912647713,1657.655912647713,1657.655912647713,4193.901741127024,4193.901741127024,4193.901741127024]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/nl_pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_nmb_sm_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- max_forward_speed [default: 0.5]
- K [default: 5,5,5,5,5,5]
- Kd [default: 4118.98,4118.98,4118.98,8000.0,8000.0,8000.0]
- Ki [default: 0.06144,0.06144,0.06144,0.078,0.078,0.078]
- slope [default: 0.182,0.182,0.182,3.348,3.348,3.348]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/nmb_sm/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_pd_grav_compensation_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069]
- Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_pid_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069]
- Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925]
- Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_sf_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 5000]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kd [default: 100.0,100.0,100.0,100.0,100.0,100.0]
- lambda [default: 1.0]
- c [default: 1.0]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_ua_pid_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- use_params_file [default: false]
- gui_on [default: true]
- Kp [default: 10.0,10.0,10.0,10.0]
- Kd [default: 1.0,1.0,1.0,1.0]
- Ki [default: 0.5,0.5,0.5,0.5]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/ua_pid/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged uuv_trajectory_control at Robotics Stack Exchange
No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 0.6.1 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Open source simulator for maritime robotics researchers |
| Checkout URI | https://github.com/liquid-ai/plankton.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-11-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | simulator robotics simulation liquid ros plankton ros2 maritime liquid-ai user-needs |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The uuv_trajectory_control package
Additional Links
No additional links.
Maintainers
- Jean-Philip Royer
- Loïc Mougeolle
Authors
- Jean-Philip Royer
- Loïc Mougeolle
- Musa Morena Marcusso Manhaes
- Sebastian Scherer
- Luiz Ricardo Douat
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| geometry_msgs | |
| nav_msgs | |
| plankton_utils | |
| rclpy | |
| std_msgs | |
| tf2 | |
| tf2_ros | |
| uuv_assistants | |
| uuv_control_msgs | |
| visualization_msgs | |
| ament_cmake_pytest |
System Dependencies
Dependant Packages
Launch files
- launch/auv_geometric_tracking_controller.launch
-
- uuv_name
- use_params_file [default: false]
- gui_on [default: true]
- use_ned_frame [default: false]
- max_forward_speed [default: 2]
- dubins_radius [default: 10]
- dubins_max_pitch [default: 0.09]
- min_thrust [default: 70]
- max_thrust [default: 200]
- thruster_topic [default: thrusters/id_0/input]
- thrust_p_gain [default: 1]
- thrust_d_gain [default: 1]
- gain_roll [default: 1]
- gain_pitch [default: 1]
- gain_yaw [default: 1]
- n_fins [default: 4]
- map_roll [default: 0,0,0,0]
- map_pitch [default: 0,0,0,0]
- map_yaw [default: 0,0,0,0]
- max_fin_angle [default: 0.0]
- fin_topic_prefix [default: fins]
- fin_topic_suffix [default: input]
- idle_radius [default: 10.0]
- look_ahead_delay [default: 5.0]
- desired_pitch_limit [default: 0.26]
- yaw_error_limit [default: 1.0]
- thruster_topic_prefix [default: thrusters]
- thruster_topic_suffix [default: input]
- thruster_frame_base [default: thruster_]
- thruster_conversion_fcn [default: proportional]
- thruster_gain [default: 0.0]
- thruster_input [default: 0,1,2,3]
- thruster_output [default: 0,1,2,3]
- launch/rov_mb_fl_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 19987.218,19987.218,19987.218,19460.293,19460.293,19460.293]
- Kd [default: 11458.051,11458.051,11458.051,17068.778,17068.778,17068.778]
- Ki [default: 1689.976,1689.976,1689.976,186.198,186.198,186.198]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_mb_sm_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- lambda [default: 10,10,10,10,10,10]
- rho_constant [default: 10000,10000,10000,10000,10000,10000]
- k [default: 500,500,500,500,500,500]
- c [default: 50,50,50,1,1,1]
- adapt_slope [default: 100,10,10]
- rho_0 [default: 3000,3000,8000,1500,1500,8000]
- drift_prevent [default: 0.03]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/mb_sm/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_nl_pid_controller.launch
-
- uuv_name
- model_name
- saturation [default: 6000]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 6017.059667616178,6017.059667616178,6017.059667616178,9731.391095849109,9731.391095849109,9731.391095849109]
- Kd [default: 2682.9509286089447,2682.9509286089447,2682.9509286089447,9440.462338720527,9440.462338720527,9440.462338720527]
- Ki [default: 0,0,0,0,0,0]
- Hm [default: 1657.655912647713,1657.655912647713,1657.655912647713,4193.901741127024,4193.901741127024,4193.901741127024]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/nl_pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_nmb_sm_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- max_forward_speed [default: 0.5]
- K [default: 5,5,5,5,5,5]
- Kd [default: 4118.98,4118.98,4118.98,8000.0,8000.0,8000.0]
- Ki [default: 0.06144,0.06144,0.06144,0.078,0.078,0.078]
- slope [default: 0.182,0.182,0.182,3.348,3.348,3.348]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/nmb_sm/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_pd_grav_compensation_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069]
- Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_pid_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069]
- Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925]
- Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_sf_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 5000]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kd [default: 100.0,100.0,100.0,100.0,100.0,100.0]
- lambda [default: 1.0]
- c [default: 1.0]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_ua_pid_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- use_params_file [default: false]
- gui_on [default: true]
- Kp [default: 10.0,10.0,10.0,10.0]
- Kd [default: 1.0,1.0,1.0,1.0]
- Ki [default: 0.5,0.5,0.5,0.5]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/ua_pid/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged uuv_trajectory_control at Robotics Stack Exchange
No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 0.6.1 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Open source simulator for maritime robotics researchers |
| Checkout URI | https://github.com/liquid-ai/plankton.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-11-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | simulator robotics simulation liquid ros plankton ros2 maritime liquid-ai user-needs |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The uuv_trajectory_control package
Additional Links
No additional links.
Maintainers
- Jean-Philip Royer
- Loïc Mougeolle
Authors
- Jean-Philip Royer
- Loïc Mougeolle
- Musa Morena Marcusso Manhaes
- Sebastian Scherer
- Luiz Ricardo Douat
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| geometry_msgs | |
| nav_msgs | |
| plankton_utils | |
| rclpy | |
| std_msgs | |
| tf2 | |
| tf2_ros | |
| uuv_assistants | |
| uuv_control_msgs | |
| visualization_msgs | |
| ament_cmake_pytest |
System Dependencies
Dependant Packages
Launch files
- launch/auv_geometric_tracking_controller.launch
-
- uuv_name
- use_params_file [default: false]
- gui_on [default: true]
- use_ned_frame [default: false]
- max_forward_speed [default: 2]
- dubins_radius [default: 10]
- dubins_max_pitch [default: 0.09]
- min_thrust [default: 70]
- max_thrust [default: 200]
- thruster_topic [default: thrusters/id_0/input]
- thrust_p_gain [default: 1]
- thrust_d_gain [default: 1]
- gain_roll [default: 1]
- gain_pitch [default: 1]
- gain_yaw [default: 1]
- n_fins [default: 4]
- map_roll [default: 0,0,0,0]
- map_pitch [default: 0,0,0,0]
- map_yaw [default: 0,0,0,0]
- max_fin_angle [default: 0.0]
- fin_topic_prefix [default: fins]
- fin_topic_suffix [default: input]
- idle_radius [default: 10.0]
- look_ahead_delay [default: 5.0]
- desired_pitch_limit [default: 0.26]
- yaw_error_limit [default: 1.0]
- thruster_topic_prefix [default: thrusters]
- thruster_topic_suffix [default: input]
- thruster_frame_base [default: thruster_]
- thruster_conversion_fcn [default: proportional]
- thruster_gain [default: 0.0]
- thruster_input [default: 0,1,2,3]
- thruster_output [default: 0,1,2,3]
- launch/rov_mb_fl_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 19987.218,19987.218,19987.218,19460.293,19460.293,19460.293]
- Kd [default: 11458.051,11458.051,11458.051,17068.778,17068.778,17068.778]
- Ki [default: 1689.976,1689.976,1689.976,186.198,186.198,186.198]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_mb_sm_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- lambda [default: 10,10,10,10,10,10]
- rho_constant [default: 10000,10000,10000,10000,10000,10000]
- k [default: 500,500,500,500,500,500]
- c [default: 50,50,50,1,1,1]
- adapt_slope [default: 100,10,10]
- rho_0 [default: 3000,3000,8000,1500,1500,8000]
- drift_prevent [default: 0.03]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/mb_sm/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_nl_pid_controller.launch
-
- uuv_name
- model_name
- saturation [default: 6000]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 6017.059667616178,6017.059667616178,6017.059667616178,9731.391095849109,9731.391095849109,9731.391095849109]
- Kd [default: 2682.9509286089447,2682.9509286089447,2682.9509286089447,9440.462338720527,9440.462338720527,9440.462338720527]
- Ki [default: 0,0,0,0,0,0]
- Hm [default: 1657.655912647713,1657.655912647713,1657.655912647713,4193.901741127024,4193.901741127024,4193.901741127024]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/nl_pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_nmb_sm_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- max_forward_speed [default: 0.5]
- K [default: 5,5,5,5,5,5]
- Kd [default: 4118.98,4118.98,4118.98,8000.0,8000.0,8000.0]
- Ki [default: 0.06144,0.06144,0.06144,0.078,0.078,0.078]
- slope [default: 0.182,0.182,0.182,3.348,3.348,3.348]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/nmb_sm/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_pd_grav_compensation_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069]
- Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_pid_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069]
- Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925]
- Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_sf_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 5000]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kd [default: 100.0,100.0,100.0,100.0,100.0,100.0]
- lambda [default: 1.0]
- c [default: 1.0]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_ua_pid_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- use_params_file [default: false]
- gui_on [default: true]
- Kp [default: 10.0,10.0,10.0,10.0]
- Kd [default: 1.0,1.0,1.0,1.0]
- Ki [default: 0.5,0.5,0.5,0.5]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/ua_pid/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged uuv_trajectory_control at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.6.1 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Open source simulator for maritime robotics researchers |
| Checkout URI | https://github.com/liquid-ai/plankton.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-11-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | simulator robotics simulation liquid ros plankton ros2 maritime liquid-ai user-needs |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The uuv_trajectory_control package
Additional Links
No additional links.
Maintainers
- Jean-Philip Royer
- Loïc Mougeolle
Authors
- Jean-Philip Royer
- Loïc Mougeolle
- Musa Morena Marcusso Manhaes
- Sebastian Scherer
- Luiz Ricardo Douat
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| geometry_msgs | |
| nav_msgs | |
| plankton_utils | |
| rclpy | |
| std_msgs | |
| tf2 | |
| tf2_ros | |
| uuv_assistants | |
| uuv_control_msgs | |
| visualization_msgs | |
| ament_cmake_pytest |
System Dependencies
Dependant Packages
Launch files
- launch/auv_geometric_tracking_controller.launch
-
- uuv_name
- use_params_file [default: false]
- gui_on [default: true]
- use_ned_frame [default: false]
- max_forward_speed [default: 2]
- dubins_radius [default: 10]
- dubins_max_pitch [default: 0.09]
- min_thrust [default: 70]
- max_thrust [default: 200]
- thruster_topic [default: thrusters/id_0/input]
- thrust_p_gain [default: 1]
- thrust_d_gain [default: 1]
- gain_roll [default: 1]
- gain_pitch [default: 1]
- gain_yaw [default: 1]
- n_fins [default: 4]
- map_roll [default: 0,0,0,0]
- map_pitch [default: 0,0,0,0]
- map_yaw [default: 0,0,0,0]
- max_fin_angle [default: 0.0]
- fin_topic_prefix [default: fins]
- fin_topic_suffix [default: input]
- idle_radius [default: 10.0]
- look_ahead_delay [default: 5.0]
- desired_pitch_limit [default: 0.26]
- yaw_error_limit [default: 1.0]
- thruster_topic_prefix [default: thrusters]
- thruster_topic_suffix [default: input]
- thruster_frame_base [default: thruster_]
- thruster_conversion_fcn [default: proportional]
- thruster_gain [default: 0.0]
- thruster_input [default: 0,1,2,3]
- thruster_output [default: 0,1,2,3]
- launch/rov_mb_fl_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 19987.218,19987.218,19987.218,19460.293,19460.293,19460.293]
- Kd [default: 11458.051,11458.051,11458.051,17068.778,17068.778,17068.778]
- Ki [default: 1689.976,1689.976,1689.976,186.198,186.198,186.198]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_mb_sm_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- lambda [default: 10,10,10,10,10,10]
- rho_constant [default: 10000,10000,10000,10000,10000,10000]
- k [default: 500,500,500,500,500,500]
- c [default: 50,50,50,1,1,1]
- adapt_slope [default: 100,10,10]
- rho_0 [default: 3000,3000,8000,1500,1500,8000]
- drift_prevent [default: 0.03]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/mb_sm/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_nl_pid_controller.launch
-
- uuv_name
- model_name
- saturation [default: 6000]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 6017.059667616178,6017.059667616178,6017.059667616178,9731.391095849109,9731.391095849109,9731.391095849109]
- Kd [default: 2682.9509286089447,2682.9509286089447,2682.9509286089447,9440.462338720527,9440.462338720527,9440.462338720527]
- Ki [default: 0,0,0,0,0,0]
- Hm [default: 1657.655912647713,1657.655912647713,1657.655912647713,4193.901741127024,4193.901741127024,4193.901741127024]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/nl_pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_nmb_sm_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- max_forward_speed [default: 0.5]
- K [default: 5,5,5,5,5,5]
- Kd [default: 4118.98,4118.98,4118.98,8000.0,8000.0,8000.0]
- Ki [default: 0.06144,0.06144,0.06144,0.078,0.078,0.078]
- slope [default: 0.182,0.182,0.182,3.348,3.348,3.348]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/nmb_sm/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_pd_grav_compensation_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069]
- Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_pid_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069]
- Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925]
- Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_sf_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 5000]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kd [default: 100.0,100.0,100.0,100.0,100.0,100.0]
- lambda [default: 1.0]
- c [default: 1.0]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_ua_pid_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- use_params_file [default: false]
- gui_on [default: true]
- Kp [default: 10.0,10.0,10.0,10.0]
- Kd [default: 1.0,1.0,1.0,1.0]
- Ki [default: 0.5,0.5,0.5,0.5]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/ua_pid/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged uuv_trajectory_control at Robotics Stack Exchange
No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 0.6.1 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Open source simulator for maritime robotics researchers |
| Checkout URI | https://github.com/liquid-ai/plankton.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-11-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | simulator robotics simulation liquid ros plankton ros2 maritime liquid-ai user-needs |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The uuv_trajectory_control package
Additional Links
No additional links.
Maintainers
- Jean-Philip Royer
- Loïc Mougeolle
Authors
- Jean-Philip Royer
- Loïc Mougeolle
- Musa Morena Marcusso Manhaes
- Sebastian Scherer
- Luiz Ricardo Douat
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| geometry_msgs | |
| nav_msgs | |
| plankton_utils | |
| rclpy | |
| std_msgs | |
| tf2 | |
| tf2_ros | |
| uuv_assistants | |
| uuv_control_msgs | |
| visualization_msgs | |
| ament_cmake_pytest |
System Dependencies
Dependant Packages
Launch files
- launch/auv_geometric_tracking_controller.launch
-
- uuv_name
- use_params_file [default: false]
- gui_on [default: true]
- use_ned_frame [default: false]
- max_forward_speed [default: 2]
- dubins_radius [default: 10]
- dubins_max_pitch [default: 0.09]
- min_thrust [default: 70]
- max_thrust [default: 200]
- thruster_topic [default: thrusters/id_0/input]
- thrust_p_gain [default: 1]
- thrust_d_gain [default: 1]
- gain_roll [default: 1]
- gain_pitch [default: 1]
- gain_yaw [default: 1]
- n_fins [default: 4]
- map_roll [default: 0,0,0,0]
- map_pitch [default: 0,0,0,0]
- map_yaw [default: 0,0,0,0]
- max_fin_angle [default: 0.0]
- fin_topic_prefix [default: fins]
- fin_topic_suffix [default: input]
- idle_radius [default: 10.0]
- look_ahead_delay [default: 5.0]
- desired_pitch_limit [default: 0.26]
- yaw_error_limit [default: 1.0]
- thruster_topic_prefix [default: thrusters]
- thruster_topic_suffix [default: input]
- thruster_frame_base [default: thruster_]
- thruster_conversion_fcn [default: proportional]
- thruster_gain [default: 0.0]
- thruster_input [default: 0,1,2,3]
- thruster_output [default: 0,1,2,3]
- launch/rov_mb_fl_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 19987.218,19987.218,19987.218,19460.293,19460.293,19460.293]
- Kd [default: 11458.051,11458.051,11458.051,17068.778,17068.778,17068.778]
- Ki [default: 1689.976,1689.976,1689.976,186.198,186.198,186.198]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_mb_sm_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- lambda [default: 10,10,10,10,10,10]
- rho_constant [default: 10000,10000,10000,10000,10000,10000]
- k [default: 500,500,500,500,500,500]
- c [default: 50,50,50,1,1,1]
- adapt_slope [default: 100,10,10]
- rho_0 [default: 3000,3000,8000,1500,1500,8000]
- drift_prevent [default: 0.03]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/mb_sm/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_nl_pid_controller.launch
-
- uuv_name
- model_name
- saturation [default: 6000]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 6017.059667616178,6017.059667616178,6017.059667616178,9731.391095849109,9731.391095849109,9731.391095849109]
- Kd [default: 2682.9509286089447,2682.9509286089447,2682.9509286089447,9440.462338720527,9440.462338720527,9440.462338720527]
- Ki [default: 0,0,0,0,0,0]
- Hm [default: 1657.655912647713,1657.655912647713,1657.655912647713,4193.901741127024,4193.901741127024,4193.901741127024]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/nl_pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_nmb_sm_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- max_forward_speed [default: 0.5]
- K [default: 5,5,5,5,5,5]
- Kd [default: 4118.98,4118.98,4118.98,8000.0,8000.0,8000.0]
- Ki [default: 0.06144,0.06144,0.06144,0.078,0.078,0.078]
- slope [default: 0.182,0.182,0.182,3.348,3.348,3.348]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/nmb_sm/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_pd_grav_compensation_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069]
- Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_pid_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069]
- Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925]
- Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_sf_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 5000]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kd [default: 100.0,100.0,100.0,100.0,100.0,100.0]
- lambda [default: 1.0]
- c [default: 1.0]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_ua_pid_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- use_params_file [default: false]
- gui_on [default: true]
- Kp [default: 10.0,10.0,10.0,10.0]
- Kd [default: 1.0,1.0,1.0,1.0]
- Ki [default: 0.5,0.5,0.5,0.5]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/ua_pid/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged uuv_trajectory_control at Robotics Stack Exchange
No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 0.6.1 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Open source simulator for maritime robotics researchers |
| Checkout URI | https://github.com/liquid-ai/plankton.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-11-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | simulator robotics simulation liquid ros plankton ros2 maritime liquid-ai user-needs |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The uuv_trajectory_control package
Additional Links
No additional links.
Maintainers
- Jean-Philip Royer
- Loïc Mougeolle
Authors
- Jean-Philip Royer
- Loïc Mougeolle
- Musa Morena Marcusso Manhaes
- Sebastian Scherer
- Luiz Ricardo Douat
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| geometry_msgs | |
| nav_msgs | |
| plankton_utils | |
| rclpy | |
| std_msgs | |
| tf2 | |
| tf2_ros | |
| uuv_assistants | |
| uuv_control_msgs | |
| visualization_msgs | |
| ament_cmake_pytest |
System Dependencies
Dependant Packages
Launch files
- launch/auv_geometric_tracking_controller.launch
-
- uuv_name
- use_params_file [default: false]
- gui_on [default: true]
- use_ned_frame [default: false]
- max_forward_speed [default: 2]
- dubins_radius [default: 10]
- dubins_max_pitch [default: 0.09]
- min_thrust [default: 70]
- max_thrust [default: 200]
- thruster_topic [default: thrusters/id_0/input]
- thrust_p_gain [default: 1]
- thrust_d_gain [default: 1]
- gain_roll [default: 1]
- gain_pitch [default: 1]
- gain_yaw [default: 1]
- n_fins [default: 4]
- map_roll [default: 0,0,0,0]
- map_pitch [default: 0,0,0,0]
- map_yaw [default: 0,0,0,0]
- max_fin_angle [default: 0.0]
- fin_topic_prefix [default: fins]
- fin_topic_suffix [default: input]
- idle_radius [default: 10.0]
- look_ahead_delay [default: 5.0]
- desired_pitch_limit [default: 0.26]
- yaw_error_limit [default: 1.0]
- thruster_topic_prefix [default: thrusters]
- thruster_topic_suffix [default: input]
- thruster_frame_base [default: thruster_]
- thruster_conversion_fcn [default: proportional]
- thruster_gain [default: 0.0]
- thruster_input [default: 0,1,2,3]
- thruster_output [default: 0,1,2,3]
- launch/rov_mb_fl_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 19987.218,19987.218,19987.218,19460.293,19460.293,19460.293]
- Kd [default: 11458.051,11458.051,11458.051,17068.778,17068.778,17068.778]
- Ki [default: 1689.976,1689.976,1689.976,186.198,186.198,186.198]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_mb_sm_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- lambda [default: 10,10,10,10,10,10]
- rho_constant [default: 10000,10000,10000,10000,10000,10000]
- k [default: 500,500,500,500,500,500]
- c [default: 50,50,50,1,1,1]
- adapt_slope [default: 100,10,10]
- rho_0 [default: 3000,3000,8000,1500,1500,8000]
- drift_prevent [default: 0.03]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/mb_sm/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_nl_pid_controller.launch
-
- uuv_name
- model_name
- saturation [default: 6000]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 6017.059667616178,6017.059667616178,6017.059667616178,9731.391095849109,9731.391095849109,9731.391095849109]
- Kd [default: 2682.9509286089447,2682.9509286089447,2682.9509286089447,9440.462338720527,9440.462338720527,9440.462338720527]
- Ki [default: 0,0,0,0,0,0]
- Hm [default: 1657.655912647713,1657.655912647713,1657.655912647713,4193.901741127024,4193.901741127024,4193.901741127024]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/nl_pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_nmb_sm_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- max_forward_speed [default: 0.5]
- K [default: 5,5,5,5,5,5]
- Kd [default: 4118.98,4118.98,4118.98,8000.0,8000.0,8000.0]
- Ki [default: 0.06144,0.06144,0.06144,0.078,0.078,0.078]
- slope [default: 0.182,0.182,0.182,3.348,3.348,3.348]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/nmb_sm/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_pd_grav_compensation_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069]
- Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_pid_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069]
- Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925]
- Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_sf_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 5000]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kd [default: 100.0,100.0,100.0,100.0,100.0,100.0]
- lambda [default: 1.0]
- c [default: 1.0]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_ua_pid_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- use_params_file [default: false]
- gui_on [default: true]
- Kp [default: 10.0,10.0,10.0,10.0]
- Kd [default: 1.0,1.0,1.0,1.0]
- Ki [default: 0.5,0.5,0.5,0.5]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/ua_pid/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged uuv_trajectory_control at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.6.13 |
| License | Apache-2.0 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | Gazebo/ROS packages for underwater robotics simulation |
| Checkout URI | https://github.com/uuvsimulator/uuv_simulator.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2020-06-15 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | simulation ros gazebo rov auv underwater robotics-simulation swarms-project uuv |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The uuv_trajectory_control package
Additional Links
No additional links.
Maintainers
- Luiz Ricardo Douat
- Musa Morena Marcusso Manhaes
- Sebastian Scherer
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
Changelog for package uuv_trajectory_control
0.6.13 (2019-08-12)
- Fix PID controller node shebang Signed-off-by: Musa Morena Marcusso Manhães <<musa.marcusso@de.bosch.com>>
- Add private log module Signed-off-by: Musa Morena Marcusso Manhães <<musa.marcusso@de.bosch.com>>
- Update license header Signed-off-by: Musa Morena Marcusso Manhães <<musa.marcusso@de.bosch.com>>
- Add docstrings Signed-off-by: Musa Morena Marcusso Manhães <<musa.marcusso@de.bosch.com>>
- Add docstrings and update license header Signed-off-by: Musa Morena Marcusso Manhães <<musa.marcusso@de.bosch.com>>
- Set conditional import for the casadi package Signed-off-by: Musa Morena Marcusso Manhães <<musa.marcusso@de.bosch.com>>
- Add logger from package's _log module Signed-off-by: Musa Morena Marcusso Manhães <<musa.marcusso@de.bosch.com>>
- Update license header Signed-off-by: Musa Morena Marcusso Manhães <<musa.marcusso@de.bosch.com>>
- Update test configuration Signed-off-by: Musa Morena Marcusso Manhães <<musa.marcusso@de.bosch.com>>
- Update license headers Signed-off-by: Musa Morena Marcusso Manhães <<musa.marcusso@de.bosch.com>>
- Adding docstrings and updating license headers Signed-off-by: Musa Morena Marcusso Manhães <<musa.marcusso@de.bosch.com>>
- Fix import local waypoint module Signed-off-by: Musa Morena Marcusso Manhães <<musa.marcusso@de.bosch.com>>
- Fix module docstring breakline Signed-off-by: Musa Morena Marcusso Manhães <<musa.marcusso@de.bosch.com>>
- Add missing HelicalSegment to module Signed-off-by: Musa Morena Marcusso Manhães <<musa.marcusso@de.bosch.com>>
- Add local logging module Signed-off-by: Musa Morena Marcusso Manhães <<musa.marcusso@de.bosch.com>>
- Add module docstring Signed-off-by: Musa Morena Marcusso Manhães <<musa.marcusso@de.bosch.com>>
- Add uuv_assistants dependency to reach tf_quaternion package Signed-off-by: Musa Morena Marcusso Manhães <<musa.marcusso@de.bosch.com>>
- Replace geometry.tf.transformations by local transformations package Signed-off-by: Musa Morena Marcusso Manhães <<musa.marcusso@de.bosch.com>>
- Add docstrings and update license headers Signed-off-by: Musa Morena Marcusso Manhães <<musa.marcusso@de.bosch.com>>
- Add module docstring and update license header Signed-off-by: Musa Morena Marcusso Manhães <<musa.marcusso@de.bosch.com>>
- Contributors: Musa Morena Marcusso Manhães
0.6.12 (2019-05-23)
0.6.11 (2019-03-21)
- Fix normalization of fin angle for saturation Signed-off-by: Musa Morena Marcusso Manhães <<musa.marcusso@de.bosch.com>>
- Contributors: Musa Morena Marcusso Manhães
0.6.10 (2019-02-28)
- Fix errors from catkin_lint Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
- Fix non-executables Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
- Contributors: Musa Morena Marcusso Manhaes
0.6.9 (2019-02-26)
0.6.8 (2019-02-14)
0.6.7 (2019-02-13)
0.6.6 (2019-02-12)
0.6.5 (2019-02-07)
0.6.4 (2019-02-03)
- FIX Dependency errors for ROS Buildfarm Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
- Contributors: Musa Morena Marcusso Manhães
0.6.3 (2018-12-13)
- CHANGE Use lowercase strings for e-mail Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
- Fixed the InitWaypointSet method with dp_controller_planner.py. Added interpolator to InitWaypointSet.srv Signed-off-by: Jackson Shields <<jacksonhshields@gmail.com>>
- Contributors: Musa Morena Marcusso Manhães, Jackson Shields
0.6.2 (2018-12-03)
0.6.1 (2018-08-03)
0.6.0 (2018-07-31)
0.5.13 (2018-07-24)
- FIX Set orientation error from quaternion vector Signed-off-by: Musa Morena Marcusso Manhaes <<musa.marcusso@de.bosch.com>>
- FIX If start_time is set before interpolation begins, ignore current
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| rospy | |
| roslib | |
| geometry_msgs | |
| uuv_control_msgs | |
| tf | |
| std_msgs | |
| nav_msgs | |
| visualization_msgs | |
| uuv_assistants | |
| rosunit | |
| rostest |
System Dependencies
Dependant Packages
Launch files
- launch/auv_geometric_tracking_controller.launch
-
- uuv_name
- use_params_file [default: false]
- gui_on [default: true]
- use_ned_frame [default: false]
- max_forward_speed [default: 2]
- dubins_radius [default: 10]
- dubins_max_pitch [default: 0.09]
- min_thrust [default: 70]
- max_thrust [default: 200]
- thruster_topic [default: thrusters/0/input]
- thrust_p_gain [default: 1]
- thrust_d_gain [default: 1]
- gain_roll [default: 1]
- gain_pitch [default: 1]
- gain_yaw [default: 1]
- n_fins [default: 4]
- map_roll [default: 0,0,0,0]
- map_pitch [default: 0,0,0,0]
- map_yaw [default: 0,0,0,0]
- max_fin_angle [default: 0.0]
- fin_topic_prefix [default: fins]
- fin_topic_suffix [default: input]
- idle_radius [default: 10.0]
- look_ahead_delay [default: 5.0]
- desired_pitch_limit [default: 0.26]
- yaw_error_limit [default: 1.0]
- thruster_topic_prefix [default: thrusters]
- thruster_topic_suffix [default: input]
- thruster_frame_base [default: thruster_]
- thruster_conversion_fcn [default: proportional]
- thruster_gain [default: 0.0]
- thruster_input [default: 0,1,2,3]
- thruster_output [default: 0,1,2,3]
- launch/rov_mb_fl_controller.launch
-
- uuv_name
- model_name [default: $(arg uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 19987.218,19987.218,19987.218,19460.293,19460.293,19460.293]
- Kd [default: 11458.051,11458.051,11458.051,17068.778,17068.778,17068.778]
- Ki [default: 1689.976,1689.976,1689.976,186.198,186.198,186.198]
- controller_config_file [default: $(find uuv_trajectory_control)/config/controllers/pid/$(arg model_name)/params.yaml]
- model_params_file [default: $(find uuv_trajectory_control)/config/models/$(arg model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find uuv_thruster_manager)/config/$(arg model_name)]
- thruster_manager_config_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/thruster_manager.yaml]
- tam_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/TAM.yaml]
- launch/rov_mb_sm_controller.launch
-
- uuv_name
- model_name [default: $(arg uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- lambda [default: 10,10,10,10,10,10]
- rho_constant [default: 10000,10000,10000,10000,10000,10000]
- k [default: 500,500,500,500,500,500]
- c [default: 50,50,50,1,1,1]
- adapt_slope [default: 100,10,10]
- rho_0 [default: 3000,3000,8000,1500,1500,8000]
- drift_prevent [default: 0.03]
- controller_config_file [default: $(find uuv_trajectory_control)/config/controllers/mb_sm/$(arg model_name)/params.yaml]
- model_params_file [default: $(find uuv_trajectory_control)/config/models/$(arg model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find uuv_thruster_manager)/config/$(arg model_name)]
- thruster_manager_config_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/thruster_manager.yaml]
- tam_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/TAM.yaml]
- launch/rov_nl_pid_controller.launch
-
- uuv_name
- model_name
- saturation [default: 6000]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 6017.059667616178,6017.059667616178,6017.059667616178,9731.391095849109,9731.391095849109,9731.391095849109]
- Kd [default: 2682.9509286089447,2682.9509286089447,2682.9509286089447,9440.462338720527,9440.462338720527,9440.462338720527]
- Ki [default: 0,0,0,0,0,0]
- Hm [default: 1657.655912647713,1657.655912647713,1657.655912647713,4193.901741127024,4193.901741127024,4193.901741127024]
- controller_config_file [default: $(find uuv_trajectory_control)/config/controllers/nl_pid/$(arg model_name)/params.yaml]
- model_params_file [default: $(find uuv_trajectory_control)/config/models/$(arg model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find uuv_thruster_manager)/config/$(arg model_name)]
- thruster_manager_config_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/thruster_manager.yaml]
- tam_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/TAM.yaml]
- launch/rov_nmb_sm_controller.launch
-
- uuv_name
- model_name [default: $(arg uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- max_forward_speed [default: 0.5]
- K [default: 5,5,5,5,5,5]
- Kd [default: 4118.98,4118.98,4118.98,8000.0,8000.0,8000.0]
- Ki [default: 0.06144,0.06144,0.06144,0.078,0.078,0.078]
- slope [default: 0.182,0.182,0.182,3.348,3.348,3.348]
- controller_config_file [default: $(find uuv_trajectory_control)/config/controllers/nmb_sm/$(arg model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find uuv_thruster_manager)/config/$(arg model_name)]
- thruster_manager_config_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/thruster_manager.yaml]
- tam_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/TAM.yaml]
- launch/rov_pd_grav_compensation_controller.launch
-
- uuv_name
- model_name [default: $(arg uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069]
- Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925]
- controller_config_file [default: $(find uuv_trajectory_control)/config/controllers/pid/$(arg model_name)/params.yaml]
- model_params_file [default: $(find uuv_trajectory_control)/config/models/$(arg model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find uuv_thruster_manager)/config/$(arg model_name)]
- thruster_manager_config_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/thruster_manager.yaml]
- tam_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/TAM.yaml]
- launch/rov_pid_controller.launch
-
- uuv_name
- model_name [default: $(arg uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069]
- Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925]
- Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951]
- controller_config_file [default: $(find uuv_trajectory_control)/config/controllers/pid/$(arg model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find uuv_thruster_manager)/config/$(arg model_name)]
- thruster_manager_config_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/thruster_manager.yaml]
- tam_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/TAM.yaml]
- launch/rov_sf_controller.launch
-
- uuv_name
- model_name [default: $(arg uuv_name)]
- saturation [default: 5000]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kd [default: 100.0,100.0,100.0,100.0,100.0,100.0]
- lambda [default: 1.0]
- c [default: 1.0]
- controller_config_file [default: $(find uuv_trajectory_control)/config/controllers/pid/$(arg model_name)/params.yaml]
- model_params_file [default: $(find uuv_trajectory_control)/config/models/$(arg model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find uuv_thruster_manager)/config/$(arg model_name)]
- thruster_manager_config_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/thruster_manager.yaml]
- tam_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/TAM.yaml]
- launch/rov_ua_pid_controller.launch
-
- uuv_name
- model_name [default: $(arg uuv_name)]
- saturation [default: 1200]
- use_params_file [default: false]
- gui_on [default: true]
- Kp [default: 10.0,10.0,10.0,10.0]
- Kd [default: 1.0,1.0,1.0,1.0]
- Ki [default: 0.5,0.5,0.5,0.5]
- controller_config_file [default: $(find uuv_trajectory_control)/config/controllers/ua_pid/$(arg model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find uuv_thruster_manager)/config/$(arg model_name)]
- thruster_manager_config_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/thruster_manager.yaml]
- tam_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/TAM.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged uuv_trajectory_control at Robotics Stack Exchange
No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 0.6.1 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Open source simulator for maritime robotics researchers |
| Checkout URI | https://github.com/liquid-ai/plankton.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-11-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | simulator robotics simulation liquid ros plankton ros2 maritime liquid-ai user-needs |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The uuv_trajectory_control package
Additional Links
No additional links.
Maintainers
- Jean-Philip Royer
- Loïc Mougeolle
Authors
- Jean-Philip Royer
- Loïc Mougeolle
- Musa Morena Marcusso Manhaes
- Sebastian Scherer
- Luiz Ricardo Douat
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| geometry_msgs | |
| nav_msgs | |
| plankton_utils | |
| rclpy | |
| std_msgs | |
| tf2 | |
| tf2_ros | |
| uuv_assistants | |
| uuv_control_msgs | |
| visualization_msgs | |
| ament_cmake_pytest |
System Dependencies
Dependant Packages
Launch files
- launch/auv_geometric_tracking_controller.launch
-
- uuv_name
- use_params_file [default: false]
- gui_on [default: true]
- use_ned_frame [default: false]
- max_forward_speed [default: 2]
- dubins_radius [default: 10]
- dubins_max_pitch [default: 0.09]
- min_thrust [default: 70]
- max_thrust [default: 200]
- thruster_topic [default: thrusters/id_0/input]
- thrust_p_gain [default: 1]
- thrust_d_gain [default: 1]
- gain_roll [default: 1]
- gain_pitch [default: 1]
- gain_yaw [default: 1]
- n_fins [default: 4]
- map_roll [default: 0,0,0,0]
- map_pitch [default: 0,0,0,0]
- map_yaw [default: 0,0,0,0]
- max_fin_angle [default: 0.0]
- fin_topic_prefix [default: fins]
- fin_topic_suffix [default: input]
- idle_radius [default: 10.0]
- look_ahead_delay [default: 5.0]
- desired_pitch_limit [default: 0.26]
- yaw_error_limit [default: 1.0]
- thruster_topic_prefix [default: thrusters]
- thruster_topic_suffix [default: input]
- thruster_frame_base [default: thruster_]
- thruster_conversion_fcn [default: proportional]
- thruster_gain [default: 0.0]
- thruster_input [default: 0,1,2,3]
- thruster_output [default: 0,1,2,3]
- launch/rov_mb_fl_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 19987.218,19987.218,19987.218,19460.293,19460.293,19460.293]
- Kd [default: 11458.051,11458.051,11458.051,17068.778,17068.778,17068.778]
- Ki [default: 1689.976,1689.976,1689.976,186.198,186.198,186.198]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_mb_sm_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- lambda [default: 10,10,10,10,10,10]
- rho_constant [default: 10000,10000,10000,10000,10000,10000]
- k [default: 500,500,500,500,500,500]
- c [default: 50,50,50,1,1,1]
- adapt_slope [default: 100,10,10]
- rho_0 [default: 3000,3000,8000,1500,1500,8000]
- drift_prevent [default: 0.03]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/mb_sm/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_nl_pid_controller.launch
-
- uuv_name
- model_name
- saturation [default: 6000]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 6017.059667616178,6017.059667616178,6017.059667616178,9731.391095849109,9731.391095849109,9731.391095849109]
- Kd [default: 2682.9509286089447,2682.9509286089447,2682.9509286089447,9440.462338720527,9440.462338720527,9440.462338720527]
- Ki [default: 0,0,0,0,0,0]
- Hm [default: 1657.655912647713,1657.655912647713,1657.655912647713,4193.901741127024,4193.901741127024,4193.901741127024]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/nl_pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_nmb_sm_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- max_forward_speed [default: 0.5]
- K [default: 5,5,5,5,5,5]
- Kd [default: 4118.98,4118.98,4118.98,8000.0,8000.0,8000.0]
- Ki [default: 0.06144,0.06144,0.06144,0.078,0.078,0.078]
- slope [default: 0.182,0.182,0.182,3.348,3.348,3.348]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/nmb_sm/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_pd_grav_compensation_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069]
- Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_pid_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069]
- Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925]
- Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_sf_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 5000]
- gui_on [default: true]
- use_params_file [default: false]
- use_ned_frame [default: false]
- Kd [default: 100.0,100.0,100.0,100.0,100.0,100.0]
- lambda [default: 1.0]
- c [default: 1.0]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/pid/$(var model_name)/params.yaml]
- model_params_file [default: $(find-pkg-share uuv_trajectory_control)/config/models/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
- launch/rov_ua_pid_controller.launch
-
- uuv_name
- model_name [default: $(var uuv_name)]
- saturation [default: 1200]
- use_params_file [default: false]
- gui_on [default: true]
- Kp [default: 10.0,10.0,10.0,10.0]
- Kd [default: 1.0,1.0,1.0,1.0]
- Ki [default: 0.5,0.5,0.5,0.5]
- controller_config_file [default: $(find-pkg-share uuv_trajectory_control)/config/controllers/ua_pid/$(var model_name)/params.yaml]
- thruster_manager_output_dir [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)]
- thruster_manager_config_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/thruster_manager.yaml]
- tam_file [default: $(find-pkg-share uuv_thruster_manager)/config/$(var model_name)/TAM.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.