ROS Index
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auv_controllers repositoryunderwater-robotics ros2 ros2-controllers ros2-rolling ros2-jazzy auv_control_demos auv_control_msgs auv_controllers controller_common end_effector_trajectory_controller ik_solvers thruster_allocation_matrix_controller thruster_controllers topic_sensors velocity_controllers whole_body_controllers |
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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 | 2025-06-03 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | underwater-robotics ros2 ros2-controllers ros2-rolling ros2-jazzy |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| auv_control_demos | 0.2.1 |
| auv_control_msgs | 0.2.1 |
| auv_controllers | 0.2.1 |
| controller_common | 0.2.1 |
| end_effector_trajectory_controller | 0.2.1 |
| ik_solvers | 0.2.1 |
| thruster_allocation_matrix_controller | 0.2.1 |
| thruster_controllers | 0.2.1 |
| topic_sensors | 0.2.1 |
| velocity_controllers | 0.2.1 |
| whole_body_controllers | 0.2.1 |
README
auv_controllers
auv_controllers is a collection of controllers for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control. The controllers have been designed to support the complete system control hierarchy and to enable benchmarking against other commonly-used control algorithms.
Installation
auv_controllers is currently supported on Linux and is available for the ROS 2
Rolling and Jazzy distributions. To install auv_controllers, first clone this
project to the src directory of your ROS workspace:
git clone git@github.com:Robotic-Decision-Making-Lab/auv_controllers.git
After cloning the project, install all external dependencies using vcs:
vcs import src < src/auv_controllers/ros2.repos
Finally, install the ROS dependencies using rosdep:
rosdep update && \
rosdep install -y --from-paths src --ignore-src
Getting started
To learn more about how to use the controllers provided in this project, please refer to the examples package. You can also find integration tutorials in the Blue documentation.
Getting help
If you have questions regarding usage of auv_controllers or regarding contributing to this project, please ask a question on our Discussions board!
License
auv_controllers is released under the MIT license.