Trusters Allocation Matrix (TAM) Controller

Package Summary

Version	0.4.1
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control.
Checkout URI	https://github.com/robotic-decision-making-lab/auv_controllers.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Thruster allocation matrix controller used to convert wrench commands into thrust commands

Additional Links

Maintainers

Evan Palmer

Authors

Everardo Gonzalez
Rakesh Vivekanandan
Colin Mitchell
Evan Palmer

Trusters Allocation Matrix (TAM) Controller

A chainable controller that converts thrust from Cartesian space to thruster space. This is calculated by taking the pseudoinverse of the user-provided thruster allocation matrix (TAM) and multiplying it by the reference forces: pinv(TAM) x input.

Plugin Library

thruster_allocation_matrix_controller/ThrusterAllocationMatrixController

References

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

Commands

The output of this controller is an N-dimensional vector whose elements represent the thrust associated with each thruster defined in the TAM.

Subscribers

thruster_allocation_matrix_controller/reference [geometry_msgs::msg::Wrench]

Publishers

thruster_allocation_matrix_controller/status [auv_control_msgs::msg::MultiActuatorStateStamped]

CHANGELOG

Changelog for package thruster_allocation_matrix_controller

0.4.1 (2026-02-23)

0.4.0 (2025-08-01)

0.3.3 (2025-07-29)

0.3.2 (2025-07-22)

Replaces the deprecated unlockAndPublish API with try_publish

0.3.1 (2025-07-09)

0.3.0 (2025-06-07)

0.2.1 (2025-06-03)

0.2.0 (2025-05-03)

0.1.0 (2025-04-27)

Updates the minimum CMake version to CMake 23 and upgrades the API to use C++ 23

Package Dependencies

Deps	Name
	ament_cmake
	eigen3_cmake_module
	rclcpp
	ros2_control
	pluginlib
	controller_interface
	hardware_interface
	rclcpp_lifecycle
	generate_parameter_library
	control_msgs
	auv_control_msgs
	hydrodynamics
	controller_common

System Dependencies

Name
eigen

Dependant Packages

Name	Deps
auv_controllers

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `thruster_allocation_matrix_controller` at Robotics Stack Exchange

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

thruster_allocation_matrix_controller package from auv_controllers repo

auv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers

ROS Distro
github

Package Summary

Version	0.4.1
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control.
Checkout URI	https://github.com/robotic-decision-making-lab/auv_controllers.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Thruster allocation matrix controller used to convert wrench commands into thrust commands

Additional Links

Maintainers

Evan Palmer

Authors

Everardo Gonzalez
Rakesh Vivekanandan
Colin Mitchell
Evan Palmer

Trusters Allocation Matrix (TAM) Controller

A chainable controller that converts thrust from Cartesian space to thruster space. This is calculated by taking the pseudoinverse of the user-provided thruster allocation matrix (TAM) and multiplying it by the reference forces: pinv(TAM) x input.

Plugin Library

thruster_allocation_matrix_controller/ThrusterAllocationMatrixController

References

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

Commands

The output of this controller is an N-dimensional vector whose elements represent the thrust associated with each thruster defined in the TAM.

Subscribers

thruster_allocation_matrix_controller/reference [geometry_msgs::msg::Wrench]

Publishers

thruster_allocation_matrix_controller/status [auv_control_msgs::msg::MultiActuatorStateStamped]

CHANGELOG

Changelog for package thruster_allocation_matrix_controller

0.4.1 (2026-02-23)

0.4.0 (2025-08-01)

0.3.3 (2025-07-29)

0.3.2 (2025-07-22)

Replaces the deprecated unlockAndPublish API with try_publish

0.3.1 (2025-07-09)

0.3.0 (2025-06-07)

0.2.1 (2025-06-03)

0.2.0 (2025-05-03)

0.1.0 (2025-04-27)

Updates the minimum CMake version to CMake 23 and upgrades the API to use C++ 23

Package Dependencies

Deps	Name
	ament_cmake
	eigen3_cmake_module
	rclcpp
	ros2_control
	pluginlib
	controller_interface
	hardware_interface
	rclcpp_lifecycle
	generate_parameter_library
	control_msgs
	auv_control_msgs
	hydrodynamics
	controller_common

System Dependencies

Name
eigen

Dependant Packages

Name	Deps
auv_controllers

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `thruster_allocation_matrix_controller` at Robotics Stack Exchange

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

thruster_allocation_matrix_controller package from auv_controllers repo

auv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers

ROS Distro
github

Package Summary

Version	0.4.1
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control.
Checkout URI	https://github.com/robotic-decision-making-lab/auv_controllers.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Thruster allocation matrix controller used to convert wrench commands into thrust commands

Additional Links

Maintainers

Evan Palmer

Authors

Everardo Gonzalez
Rakesh Vivekanandan
Colin Mitchell
Evan Palmer

Trusters Allocation Matrix (TAM) Controller

A chainable controller that converts thrust from Cartesian space to thruster space. This is calculated by taking the pseudoinverse of the user-provided thruster allocation matrix (TAM) and multiplying it by the reference forces: pinv(TAM) x input.

Plugin Library

thruster_allocation_matrix_controller/ThrusterAllocationMatrixController

References

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

Commands

The output of this controller is an N-dimensional vector whose elements represent the thrust associated with each thruster defined in the TAM.

Subscribers

thruster_allocation_matrix_controller/reference [geometry_msgs::msg::Wrench]

Publishers

thruster_allocation_matrix_controller/status [auv_control_msgs::msg::MultiActuatorStateStamped]

CHANGELOG

Changelog for package thruster_allocation_matrix_controller

0.4.1 (2026-02-23)

0.4.0 (2025-08-01)

0.3.3 (2025-07-29)

0.3.2 (2025-07-22)

Replaces the deprecated unlockAndPublish API with try_publish

0.3.1 (2025-07-09)

0.3.0 (2025-06-07)

0.2.1 (2025-06-03)

0.2.0 (2025-05-03)

0.1.0 (2025-04-27)

Updates the minimum CMake version to CMake 23 and upgrades the API to use C++ 23

Package Dependencies

Deps	Name
	ament_cmake
	eigen3_cmake_module
	rclcpp
	ros2_control
	pluginlib
	controller_interface
	hardware_interface
	rclcpp_lifecycle
	generate_parameter_library
	control_msgs
	auv_control_msgs
	hydrodynamics
	controller_common

System Dependencies

Name
eigen

Dependant Packages

Name	Deps
auv_controllers

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `thruster_allocation_matrix_controller` at Robotics Stack Exchange

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

thruster_allocation_matrix_controller package from auv_controllers repo

auv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers

ROS Distro
github

Package Summary

Version	0.4.1
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control.
Checkout URI	https://github.com/robotic-decision-making-lab/auv_controllers.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Thruster allocation matrix controller used to convert wrench commands into thrust commands

Additional Links

Maintainers

Evan Palmer

Authors

Everardo Gonzalez
Rakesh Vivekanandan
Colin Mitchell
Evan Palmer

Trusters Allocation Matrix (TAM) Controller

A chainable controller that converts thrust from Cartesian space to thruster space. This is calculated by taking the pseudoinverse of the user-provided thruster allocation matrix (TAM) and multiplying it by the reference forces: pinv(TAM) x input.

Plugin Library

thruster_allocation_matrix_controller/ThrusterAllocationMatrixController

References

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

Commands

The output of this controller is an N-dimensional vector whose elements represent the thrust associated with each thruster defined in the TAM.

Subscribers

thruster_allocation_matrix_controller/reference [geometry_msgs::msg::Wrench]

Publishers

thruster_allocation_matrix_controller/status [auv_control_msgs::msg::MultiActuatorStateStamped]

CHANGELOG

Changelog for package thruster_allocation_matrix_controller

0.4.1 (2026-02-23)

0.4.0 (2025-08-01)

0.3.3 (2025-07-29)

0.3.2 (2025-07-22)

Replaces the deprecated unlockAndPublish API with try_publish

0.3.1 (2025-07-09)

0.3.0 (2025-06-07)

0.2.1 (2025-06-03)

0.2.0 (2025-05-03)

0.1.0 (2025-04-27)

Updates the minimum CMake version to CMake 23 and upgrades the API to use C++ 23

Package Dependencies

Deps	Name
	ament_cmake
	eigen3_cmake_module
	rclcpp
	ros2_control
	pluginlib
	controller_interface
	hardware_interface
	rclcpp_lifecycle
	generate_parameter_library
	control_msgs
	auv_control_msgs
	hydrodynamics
	controller_common

System Dependencies

Name
eigen

Dependant Packages

Name	Deps
auv_controllers

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `thruster_allocation_matrix_controller` at Robotics Stack Exchange

thruster_allocation_matrix_controller package from auv_controllers repo

auv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers

ROS Distro
github

Package Summary

Version	0.4.1
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control.
Checkout URI	https://github.com/robotic-decision-making-lab/auv_controllers.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Thruster allocation matrix controller used to convert wrench commands into thrust commands

Additional Links

Maintainers

Evan Palmer

Authors

Everardo Gonzalez
Rakesh Vivekanandan
Colin Mitchell
Evan Palmer

Trusters Allocation Matrix (TAM) Controller

A chainable controller that converts thrust from Cartesian space to thruster space. This is calculated by taking the pseudoinverse of the user-provided thruster allocation matrix (TAM) and multiplying it by the reference forces: pinv(TAM) x input.

Plugin Library

thruster_allocation_matrix_controller/ThrusterAllocationMatrixController

References

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

Commands

The output of this controller is an N-dimensional vector whose elements represent the thrust associated with each thruster defined in the TAM.

Subscribers

thruster_allocation_matrix_controller/reference [geometry_msgs::msg::Wrench]

Publishers

thruster_allocation_matrix_controller/status [auv_control_msgs::msg::MultiActuatorStateStamped]

CHANGELOG

Changelog for package thruster_allocation_matrix_controller

0.4.1 (2026-02-23)

0.4.0 (2025-08-01)

0.3.3 (2025-07-29)

0.3.2 (2025-07-22)

Replaces the deprecated unlockAndPublish API with try_publish

0.3.1 (2025-07-09)

0.3.0 (2025-06-07)

0.2.1 (2025-06-03)

0.2.0 (2025-05-03)

0.1.0 (2025-04-27)

Updates the minimum CMake version to CMake 23 and upgrades the API to use C++ 23

Package Dependencies

Deps	Name
	ament_cmake
	eigen3_cmake_module
	rclcpp
	ros2_control
	pluginlib
	controller_interface
	hardware_interface
	rclcpp_lifecycle
	generate_parameter_library
	control_msgs
	auv_control_msgs
	hydrodynamics
	controller_common

System Dependencies

Name
eigen

Dependant Packages

Name	Deps
auv_controllers

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `thruster_allocation_matrix_controller` at Robotics Stack Exchange

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

thruster_allocation_matrix_controller package from auv_controllers repo

auv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers

ROS Distro
github

Package Summary

Version	0.4.1
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control.
Checkout URI	https://github.com/robotic-decision-making-lab/auv_controllers.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Thruster allocation matrix controller used to convert wrench commands into thrust commands

Additional Links

Maintainers

Evan Palmer

Authors

Everardo Gonzalez
Rakesh Vivekanandan
Colin Mitchell
Evan Palmer

Trusters Allocation Matrix (TAM) Controller

A chainable controller that converts thrust from Cartesian space to thruster space. This is calculated by taking the pseudoinverse of the user-provided thruster allocation matrix (TAM) and multiplying it by the reference forces: pinv(TAM) x input.

Plugin Library

thruster_allocation_matrix_controller/ThrusterAllocationMatrixController

References

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

Commands

The output of this controller is an N-dimensional vector whose elements represent the thrust associated with each thruster defined in the TAM.

Subscribers

thruster_allocation_matrix_controller/reference [geometry_msgs::msg::Wrench]

Publishers

thruster_allocation_matrix_controller/status [auv_control_msgs::msg::MultiActuatorStateStamped]

CHANGELOG

Changelog for package thruster_allocation_matrix_controller

0.4.1 (2026-02-23)

0.4.0 (2025-08-01)

0.3.3 (2025-07-29)

0.3.2 (2025-07-22)

Replaces the deprecated unlockAndPublish API with try_publish

0.3.1 (2025-07-09)

0.3.0 (2025-06-07)

0.2.1 (2025-06-03)

0.2.0 (2025-05-03)

0.1.0 (2025-04-27)

Updates the minimum CMake version to CMake 23 and upgrades the API to use C++ 23

Package Dependencies

Deps	Name
	ament_cmake
	eigen3_cmake_module
	rclcpp
	ros2_control
	pluginlib
	controller_interface
	hardware_interface
	rclcpp_lifecycle
	generate_parameter_library
	control_msgs
	auv_control_msgs
	hydrodynamics
	controller_common

System Dependencies

Name
eigen

Dependant Packages

Name	Deps
auv_controllers

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `thruster_allocation_matrix_controller` at Robotics Stack Exchange

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

thruster_allocation_matrix_controller package from auv_controllers repo

auv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers

ROS Distro
github

Package Summary

Version	0.4.1
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control.
Checkout URI	https://github.com/robotic-decision-making-lab/auv_controllers.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Thruster allocation matrix controller used to convert wrench commands into thrust commands

Additional Links

Maintainers

Evan Palmer

Authors

Everardo Gonzalez
Rakesh Vivekanandan
Colin Mitchell
Evan Palmer

Trusters Allocation Matrix (TAM) Controller

A chainable controller that converts thrust from Cartesian space to thruster space. This is calculated by taking the pseudoinverse of the user-provided thruster allocation matrix (TAM) and multiplying it by the reference forces: pinv(TAM) x input.

Plugin Library

thruster_allocation_matrix_controller/ThrusterAllocationMatrixController

References

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

Commands

The output of this controller is an N-dimensional vector whose elements represent the thrust associated with each thruster defined in the TAM.

Subscribers

thruster_allocation_matrix_controller/reference [geometry_msgs::msg::Wrench]

Publishers

thruster_allocation_matrix_controller/status [auv_control_msgs::msg::MultiActuatorStateStamped]

CHANGELOG

Changelog for package thruster_allocation_matrix_controller

0.4.1 (2026-02-23)

0.4.0 (2025-08-01)

0.3.3 (2025-07-29)

0.3.2 (2025-07-22)

Replaces the deprecated unlockAndPublish API with try_publish

0.3.1 (2025-07-09)

0.3.0 (2025-06-07)

0.2.1 (2025-06-03)

0.2.0 (2025-05-03)

0.1.0 (2025-04-27)

Updates the minimum CMake version to CMake 23 and upgrades the API to use C++ 23

Package Dependencies

Deps	Name
	ament_cmake
	eigen3_cmake_module
	rclcpp
	ros2_control
	pluginlib
	controller_interface
	hardware_interface
	rclcpp_lifecycle
	generate_parameter_library
	control_msgs
	auv_control_msgs
	hydrodynamics
	controller_common

System Dependencies

Name
eigen

Dependant Packages

Name	Deps
auv_controllers

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `thruster_allocation_matrix_controller` at Robotics Stack Exchange

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

thruster_allocation_matrix_controller package from auv_controllers repo

auv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version	0.4.1
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control.
Checkout URI	https://github.com/robotic-decision-making-lab/auv_controllers.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Thruster allocation matrix controller used to convert wrench commands into thrust commands

Additional Links

Maintainers

Evan Palmer

Authors

Everardo Gonzalez
Rakesh Vivekanandan
Colin Mitchell
Evan Palmer

Trusters Allocation Matrix (TAM) Controller

A chainable controller that converts thrust from Cartesian space to thruster space. This is calculated by taking the pseudoinverse of the user-provided thruster allocation matrix (TAM) and multiplying it by the reference forces: pinv(TAM) x input.

Plugin Library

thruster_allocation_matrix_controller/ThrusterAllocationMatrixController

References

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

Commands

The output of this controller is an N-dimensional vector whose elements represent the thrust associated with each thruster defined in the TAM.

Subscribers

thruster_allocation_matrix_controller/reference [geometry_msgs::msg::Wrench]

Publishers

thruster_allocation_matrix_controller/status [auv_control_msgs::msg::MultiActuatorStateStamped]

CHANGELOG

Changelog for package thruster_allocation_matrix_controller

0.4.1 (2026-02-23)

0.4.0 (2025-08-01)

0.3.3 (2025-07-29)

0.3.2 (2025-07-22)

Replaces the deprecated unlockAndPublish API with try_publish

0.3.1 (2025-07-09)

0.3.0 (2025-06-07)

0.2.1 (2025-06-03)

0.2.0 (2025-05-03)

0.1.0 (2025-04-27)

Updates the minimum CMake version to CMake 23 and upgrades the API to use C++ 23

Package Dependencies

Deps	Name
	ament_cmake
	eigen3_cmake_module
	rclcpp
	ros2_control
	pluginlib
	controller_interface
	hardware_interface
	rclcpp_lifecycle
	generate_parameter_library
	control_msgs
	auv_control_msgs
	hydrodynamics
	controller_common

System Dependencies

Name
eigen

Dependant Packages

Name	Deps
auv_controllers

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `thruster_allocation_matrix_controller` at Robotics Stack Exchange

API Docs Browse Code Wiki

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

thruster_allocation_matrix_controller package from auv_controllers repo

auv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version	0.4.1
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control.
Checkout URI	https://github.com/robotic-decision-making-lab/auv_controllers.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Thruster allocation matrix controller used to convert wrench commands into thrust commands

Additional Links

Maintainers

Evan Palmer

Authors

Everardo Gonzalez
Rakesh Vivekanandan
Colin Mitchell
Evan Palmer