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Package symbol

whole_body_controllers package from auv_controllers repo

auv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator end_effector_trajectory_controller ik_solvers thruster_allocation_matrix_controller thruster_controllers topic_sensors velocity_controllers whole_body_controllers

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.3.3
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 2025-07-31
Dev Status UNKNOWN
Released UNRELEASED
Tags underwater-robotics ros2 ros2-controllers ros2-rolling ros2-jazzy
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Whole-body controllers for underwater vehicle manipulator systems

Additional Links

Maintainers

  • Evan Palmer

Authors

  • Evan Palmer
whole_body_controllers/README.md

Whole Body Controllers

This package provides a collection of whole-body controllers for underwater vehicle manipulator systems (UVMS).

Inverse Kinematics Controller

A chainable controller that uses inverse kinematics solvers to compute joint states required to achieve a desired end effector pose. This controller can be used with UVMS that have a single manipulator.

Plugin Library

whole_body_controllers/ik_controller

References

  • Target end effector pose $\eta$EE

State Feedback

  • Measured system velocity V: Vvehicle, Vmanipulator
  • Measured system position q: qvehicle, qmanipulator

Commands

The output of this controller is the solution to the chosen inverse kinematics solver.

Subscribers

  • ik_controller/reference [geometry_msgs::msg::Pose]
  • ik_controller/vehicle_state [nav_msgs::msg::Odometry]

[!NOTE] The IK controller does not currently support sending manipulator states via a topic interface.

Publishers

  • ik_controller/status [auv_control_msgs::msg::IKControllerStateStamped]
CHANGELOG

Changelog for package whole_body_controllers

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)

  • Replaces instances of Eigen::Affine3d with Eigen::Isometry3d
  • Fixes a bug in the ik_controller reference interfaces where the values sent to the reference interfaces themselves (i.e., not as a message) were not being transformed into the appropriate coordinate frame for Pinocchio.

0.1.0 (2025-04-27)

  • Implements an IK controller for controlling a UVMS with a single manipulator

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged whole_body_controllers at Robotics Stack Exchange

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

whole_body_controllers package from auv_controllers repo

auv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator end_effector_trajectory_controller ik_solvers thruster_allocation_matrix_controller thruster_controllers topic_sensors velocity_controllers whole_body_controllers

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.3.3
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 2025-07-31
Dev Status UNKNOWN
Released UNRELEASED
Tags underwater-robotics ros2 ros2-controllers ros2-rolling ros2-jazzy
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Whole-body controllers for underwater vehicle manipulator systems

Additional Links

Maintainers

  • Evan Palmer

Authors

  • Evan Palmer
whole_body_controllers/README.md

Whole Body Controllers

This package provides a collection of whole-body controllers for underwater vehicle manipulator systems (UVMS).

Inverse Kinematics Controller

A chainable controller that uses inverse kinematics solvers to compute joint states required to achieve a desired end effector pose. This controller can be used with UVMS that have a single manipulator.

Plugin Library

whole_body_controllers/ik_controller

References

  • Target end effector pose $\eta$EE

State Feedback

  • Measured system velocity V: Vvehicle, Vmanipulator
  • Measured system position q: qvehicle, qmanipulator

Commands

The output of this controller is the solution to the chosen inverse kinematics solver.

Subscribers

  • ik_controller/reference [geometry_msgs::msg::Pose]
  • ik_controller/vehicle_state [nav_msgs::msg::Odometry]

[!NOTE] The IK controller does not currently support sending manipulator states via a topic interface.

Publishers

  • ik_controller/status [auv_control_msgs::msg::IKControllerStateStamped]
CHANGELOG

Changelog for package whole_body_controllers

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)

  • Replaces instances of Eigen::Affine3d with Eigen::Isometry3d
  • Fixes a bug in the ik_controller reference interfaces where the values sent to the reference interfaces themselves (i.e., not as a message) were not being transformed into the appropriate coordinate frame for Pinocchio.

0.1.0 (2025-04-27)

  • Implements an IK controller for controlling a UVMS with a single manipulator

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged whole_body_controllers at Robotics Stack Exchange

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

whole_body_controllers package from auv_controllers repo

auv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator end_effector_trajectory_controller ik_solvers thruster_allocation_matrix_controller thruster_controllers topic_sensors velocity_controllers whole_body_controllers

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.3.3
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 2025-07-31
Dev Status UNKNOWN
Released UNRELEASED
Tags underwater-robotics ros2 ros2-controllers ros2-rolling ros2-jazzy
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Whole-body controllers for underwater vehicle manipulator systems

Additional Links

Maintainers

  • Evan Palmer

Authors

  • Evan Palmer
whole_body_controllers/README.md

Whole Body Controllers

This package provides a collection of whole-body controllers for underwater vehicle manipulator systems (UVMS).

Inverse Kinematics Controller

A chainable controller that uses inverse kinematics solvers to compute joint states required to achieve a desired end effector pose. This controller can be used with UVMS that have a single manipulator.

Plugin Library

whole_body_controllers/ik_controller

References

  • Target end effector pose $\eta$EE

State Feedback

  • Measured system velocity V: Vvehicle, Vmanipulator
  • Measured system position q: qvehicle, qmanipulator

Commands

The output of this controller is the solution to the chosen inverse kinematics solver.

Subscribers

  • ik_controller/reference [geometry_msgs::msg::Pose]
  • ik_controller/vehicle_state [nav_msgs::msg::Odometry]

[!NOTE] The IK controller does not currently support sending manipulator states via a topic interface.

Publishers

  • ik_controller/status [auv_control_msgs::msg::IKControllerStateStamped]
CHANGELOG

Changelog for package whole_body_controllers

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)

  • Replaces instances of Eigen::Affine3d with Eigen::Isometry3d
  • Fixes a bug in the ik_controller reference interfaces where the values sent to the reference interfaces themselves (i.e., not as a message) were not being transformed into the appropriate coordinate frame for Pinocchio.

0.1.0 (2025-04-27)

  • Implements an IK controller for controlling a UVMS with a single manipulator

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged whole_body_controllers at Robotics Stack Exchange

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

whole_body_controllers package from auv_controllers repo

auv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator end_effector_trajectory_controller ik_solvers thruster_allocation_matrix_controller thruster_controllers topic_sensors velocity_controllers whole_body_controllers

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.3.3
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 2025-07-31
Dev Status UNKNOWN
Released UNRELEASED
Tags underwater-robotics ros2 ros2-controllers ros2-rolling ros2-jazzy
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Whole-body controllers for underwater vehicle manipulator systems

Additional Links

Maintainers

  • Evan Palmer

Authors

  • Evan Palmer
whole_body_controllers/README.md

Whole Body Controllers

This package provides a collection of whole-body controllers for underwater vehicle manipulator systems (UVMS).

Inverse Kinematics Controller

A chainable controller that uses inverse kinematics solvers to compute joint states required to achieve a desired end effector pose. This controller can be used with UVMS that have a single manipulator.

Plugin Library

whole_body_controllers/ik_controller

References

  • Target end effector pose $\eta$EE

State Feedback

  • Measured system velocity V: Vvehicle, Vmanipulator
  • Measured system position q: qvehicle, qmanipulator

Commands

The output of this controller is the solution to the chosen inverse kinematics solver.

Subscribers

  • ik_controller/reference [geometry_msgs::msg::Pose]
  • ik_controller/vehicle_state [nav_msgs::msg::Odometry]

[!NOTE] The IK controller does not currently support sending manipulator states via a topic interface.

Publishers

  • ik_controller/status [auv_control_msgs::msg::IKControllerStateStamped]
CHANGELOG

Changelog for package whole_body_controllers

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)

  • Replaces instances of Eigen::Affine3d with Eigen::Isometry3d
  • Fixes a bug in the ik_controller reference interfaces where the values sent to the reference interfaces themselves (i.e., not as a message) were not being transformed into the appropriate coordinate frame for Pinocchio.

0.1.0 (2025-04-27)

  • Implements an IK controller for controlling a UVMS with a single manipulator

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged whole_body_controllers at Robotics Stack Exchange

Package symbol

whole_body_controllers package from auv_controllers repo

auv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator end_effector_trajectory_controller ik_solvers thruster_allocation_matrix_controller thruster_controllers topic_sensors velocity_controllers whole_body_controllers

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.3.3
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 2025-07-31
Dev Status UNKNOWN
Released UNRELEASED
Tags underwater-robotics ros2 ros2-controllers ros2-rolling ros2-jazzy
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Whole-body controllers for underwater vehicle manipulator systems

Additional Links

Maintainers

  • Evan Palmer

Authors

  • Evan Palmer
whole_body_controllers/README.md

Whole Body Controllers

This package provides a collection of whole-body controllers for underwater vehicle manipulator systems (UVMS).

Inverse Kinematics Controller

A chainable controller that uses inverse kinematics solvers to compute joint states required to achieve a desired end effector pose. This controller can be used with UVMS that have a single manipulator.

Plugin Library

whole_body_controllers/ik_controller

References

  • Target end effector pose $\eta$EE

State Feedback

  • Measured system velocity V: Vvehicle, Vmanipulator
  • Measured system position q: qvehicle, qmanipulator

Commands

The output of this controller is the solution to the chosen inverse kinematics solver.

Subscribers

  • ik_controller/reference [geometry_msgs::msg::Pose]
  • ik_controller/vehicle_state [nav_msgs::msg::Odometry]

[!NOTE] The IK controller does not currently support sending manipulator states via a topic interface.

Publishers

  • ik_controller/status [auv_control_msgs::msg::IKControllerStateStamped]
CHANGELOG

Changelog for package whole_body_controllers

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)

  • Replaces instances of Eigen::Affine3d with Eigen::Isometry3d
  • Fixes a bug in the ik_controller reference interfaces where the values sent to the reference interfaces themselves (i.e., not as a message) were not being transformed into the appropriate coordinate frame for Pinocchio.

0.1.0 (2025-04-27)

  • Implements an IK controller for controlling a UVMS with a single manipulator

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged whole_body_controllers at Robotics Stack Exchange

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

whole_body_controllers package from auv_controllers repo

auv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator end_effector_trajectory_controller ik_solvers thruster_allocation_matrix_controller thruster_controllers topic_sensors velocity_controllers whole_body_controllers

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.3.3
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 2025-07-31
Dev Status UNKNOWN
Released UNRELEASED
Tags underwater-robotics ros2 ros2-controllers ros2-rolling ros2-jazzy
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Whole-body controllers for underwater vehicle manipulator systems

Additional Links

Maintainers

  • Evan Palmer

Authors

  • Evan Palmer
whole_body_controllers/README.md

Whole Body Controllers

This package provides a collection of whole-body controllers for underwater vehicle manipulator systems (UVMS).

Inverse Kinematics Controller

A chainable controller that uses inverse kinematics solvers to compute joint states required to achieve a desired end effector pose. This controller can be used with UVMS that have a single manipulator.

Plugin Library

whole_body_controllers/ik_controller

References

  • Target end effector pose $\eta$EE

State Feedback

  • Measured system velocity V: Vvehicle, Vmanipulator
  • Measured system position q: qvehicle, qmanipulator

Commands

The output of this controller is the solution to the chosen inverse kinematics solver.

Subscribers

  • ik_controller/reference [geometry_msgs::msg::Pose]
  • ik_controller/vehicle_state [nav_msgs::msg::Odometry]

[!NOTE] The IK controller does not currently support sending manipulator states via a topic interface.

Publishers

  • ik_controller/status [auv_control_msgs::msg::IKControllerStateStamped]
CHANGELOG

Changelog for package whole_body_controllers

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)

  • Replaces instances of Eigen::Affine3d with Eigen::Isometry3d
  • Fixes a bug in the ik_controller reference interfaces where the values sent to the reference interfaces themselves (i.e., not as a message) were not being transformed into the appropriate coordinate frame for Pinocchio.

0.1.0 (2025-04-27)

  • Implements an IK controller for controlling a UVMS with a single manipulator

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged whole_body_controllers at Robotics Stack Exchange

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

whole_body_controllers package from auv_controllers repo

auv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator end_effector_trajectory_controller ik_solvers thruster_allocation_matrix_controller thruster_controllers topic_sensors velocity_controllers whole_body_controllers

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.3.3
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 2025-07-31
Dev Status UNKNOWN
Released UNRELEASED
Tags underwater-robotics ros2 ros2-controllers ros2-rolling ros2-jazzy
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Whole-body controllers for underwater vehicle manipulator systems

Additional Links

Maintainers

  • Evan Palmer

Authors

  • Evan Palmer
whole_body_controllers/README.md

Whole Body Controllers

This package provides a collection of whole-body controllers for underwater vehicle manipulator systems (UVMS).

Inverse Kinematics Controller

A chainable controller that uses inverse kinematics solvers to compute joint states required to achieve a desired end effector pose. This controller can be used with UVMS that have a single manipulator.

Plugin Library

whole_body_controllers/ik_controller

References

  • Target end effector pose $\eta$EE

State Feedback

  • Measured system velocity V: Vvehicle, Vmanipulator
  • Measured system position q: qvehicle, qmanipulator

Commands

The output of this controller is the solution to the chosen inverse kinematics solver.

Subscribers

  • ik_controller/reference [geometry_msgs::msg::Pose]
  • ik_controller/vehicle_state [nav_msgs::msg::Odometry]

[!NOTE] The IK controller does not currently support sending manipulator states via a topic interface.

Publishers

  • ik_controller/status [auv_control_msgs::msg::IKControllerStateStamped]
CHANGELOG

Changelog for package whole_body_controllers

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)

  • Replaces instances of Eigen::Affine3d with Eigen::Isometry3d
  • Fixes a bug in the ik_controller reference interfaces where the values sent to the reference interfaces themselves (i.e., not as a message) were not being transformed into the appropriate coordinate frame for Pinocchio.

0.1.0 (2025-04-27)

  • Implements an IK controller for controlling a UVMS with a single manipulator

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged whole_body_controllers at Robotics Stack Exchange

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

whole_body_controllers package from auv_controllers repo

auv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator end_effector_trajectory_controller ik_solvers thruster_allocation_matrix_controller thruster_controllers topic_sensors velocity_controllers whole_body_controllers

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.3.3
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 2025-07-31
Dev Status UNKNOWN
Released UNRELEASED
Tags underwater-robotics ros2 ros2-controllers ros2-rolling ros2-jazzy
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Whole-body controllers for underwater vehicle manipulator systems

Additional Links

Maintainers

  • Evan Palmer

Authors

  • Evan Palmer
whole_body_controllers/README.md

Whole Body Controllers

This package provides a collection of whole-body controllers for underwater vehicle manipulator systems (UVMS).

Inverse Kinematics Controller

A chainable controller that uses inverse kinematics solvers to compute joint states required to achieve a desired end effector pose. This controller can be used with UVMS that have a single manipulator.

Plugin Library

whole_body_controllers/ik_controller

References

  • Target end effector pose $\eta$EE

State Feedback

  • Measured system velocity V: Vvehicle, Vmanipulator
  • Measured system position q: qvehicle, qmanipulator

Commands

The output of this controller is the solution to the chosen inverse kinematics solver.

Subscribers

  • ik_controller/reference [geometry_msgs::msg::Pose]
  • ik_controller/vehicle_state [nav_msgs::msg::Odometry]

[!NOTE] The IK controller does not currently support sending manipulator states via a topic interface.

Publishers

  • ik_controller/status [auv_control_msgs::msg::IKControllerStateStamped]
CHANGELOG

Changelog for package whole_body_controllers

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)

  • Replaces instances of Eigen::Affine3d with Eigen::Isometry3d
  • Fixes a bug in the ik_controller reference interfaces where the values sent to the reference interfaces themselves (i.e., not as a message) were not being transformed into the appropriate coordinate frame for Pinocchio.

0.1.0 (2025-04-27)

  • Implements an IK controller for controlling a UVMS with a single manipulator

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged whole_body_controllers at Robotics Stack Exchange

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

whole_body_controllers package from auv_controllers repo

auv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator end_effector_trajectory_controller ik_solvers thruster_allocation_matrix_controller thruster_controllers topic_sensors velocity_controllers whole_body_controllers

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.3.3
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 2025-07-31
Dev Status UNKNOWN
Released UNRELEASED
Tags underwater-robotics ros2 ros2-controllers ros2-rolling ros2-jazzy
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Whole-body controllers for underwater vehicle manipulator systems

Additional Links

Maintainers

  • Evan Palmer

Authors

  • Evan Palmer
whole_body_controllers/README.md

Whole Body Controllers

This package provides a collection of whole-body controllers for underwater vehicle manipulator systems (UVMS).

Inverse Kinematics Controller

A chainable controller that uses inverse kinematics solvers to compute joint states required to achieve a desired end effector pose. This controller can be used with UVMS that have a single manipulator.

Plugin Library

whole_body_controllers/ik_controller

References

  • Target end effector pose $\eta$EE

State Feedback

  • Measured system velocity V: Vvehicle, Vmanipulator
  • Measured system position q: qvehicle, qmanipulator

Commands

The output of this controller is the solution to the chosen inverse kinematics solver.

Subscribers

  • ik_controller/reference [geometry_msgs::msg::Pose]
  • ik_controller/vehicle_state [nav_msgs::msg::Odometry]

[!NOTE] The IK controller does not currently support sending manipulator states via a topic interface.

Publishers

  • ik_controller/status [auv_control_msgs::msg::IKControllerStateStamped]
CHANGELOG

Changelog for package whole_body_controllers

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)

  • Replaces instances of Eigen::Affine3d with Eigen::Isometry3d
  • Fixes a bug in the ik_controller reference interfaces where the values sent to the reference interfaces themselves (i.e., not as a message) were not being transformed into the appropriate coordinate frame for Pinocchio.

0.1.0 (2025-04-27)

  • Implements an IK controller for controlling a UVMS with a single manipulator

Launch files

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Messages

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Services

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Plugins

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