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ctl package from astrobee repo

astrobee arm dock light_flow perch states comms_bridge dds_msgs dds_ros_bridge ff_hw_msgs ff_msgs ground_dds_ros_bridge description ctl fam pmc eps_driver epson_imu fam_cmd_i2c ff_serial flashlight gpio i2c is_camera laser perching_arm pico_driver pmc_actuator signal_lights smart_dock speed_cam temp_monitor vive camera depth_odometry factor_adders graph_factors graph_localizer graph_optimizer graph_vio ground_truth_localizer handrail_detect imu_integration interest_point lk_optical_flow localization_common localization_manager localization_measurements localization_node marker_tracking node_adders nodes optimization_common optimizers parameter_reader point_cloud_common ros_graph_localizer ros_graph_vio ros_pose_extrapolator sliding_window_graph_optimizer sparse_mapping tutorial_examples vision_common vive_localization access_control cpu_mem_monitor data_bagger disk_monitor executive image_sampler log_monitor sys_monitor choreographer framestore mapper mobility planner_qp traj_opt_basic traj_opt_msgs traj_opt_pro traj_opt_ros planner_trapezoidal config_reader ff_common ff_util jsonloader msg_conversions astrobee_gazebo bag_processing calibration gds_helper gnc_visualizer interactive_marker_teleop localization_analysis localization_rviz_plugins performance_tester

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.0.0
License Apache License, Version 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/nasa/astrobee.git
VCS Type git
VCS Version master
Last Updated 2024-07-03
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Calls the GNC simulink auto-generated control code, and passes inputs and outputs to and from ros messages.

Additional Links

No additional links.

Maintainers

  • Astrobee Flight Software

Authors

  • Astrobee Flight Software
gnc/ctl/readme.md

\page ctl Control (CTL)

The control subsystem takes the pose from the EKF, as well as control commands, to determine the forces and torques that should be applied to the robot for smooth control. If executes the given segment based on a trajectory given by the choreographer, the fault checking on the execution is done in the choreographer based on the feedback.

The layout of this module is a bit complicated for historical reasons— the ctl_nodelet is a thin wrapper to the Ctl class in ctl_ros.h which interfaces between different modules via ROS. The Control class in ctl.h then implements the main underlying functionality.

Inputs

  • gnc/ekf: EKF State from EKF
  • gnc/ctl/control Action. See the Control action specification for details.

Outputs

  • gnc/ctl/command: The force and torque commanded by control.
  • gnc/ctl/shaper: The output from the GNC command shaper, which smooths the control.
  • gnc/ctl/traj: The trajectory that the control subsystem is being commanded to follow.
  • gnc/ctl/segment: The current segment the control subsystem is traversing.
  • gnc/ctl/progress: The progress in executing the current segment.

GNC Control Wrapper behavior

\dotfile ctl_fsm “GNC Control Wrapper finite state machine” width=10cm

  • WAITING: No setpoints sent to the internal Matlab controller.
  • NOMINAL: Waits until the start time for deferred executions, commands the setpoints to the internal Matlab in nominal mode until the desired trajectory is finished.
  • STOPPING: Commands internal Matlab into stopping mode. When the velocity and angular velocity fall under a certain stop threshould, it succeeds.

Modes

The controller internally has four modes:

  • Idle: No control is present.
  • Stopping: Position error is calculated based on the delayed current position and the current position. Velocity and acceleration commands are zero.
  • Nominal: It follows the trajectory given for position, velocity and acceleraion.
  • Stopped: Position/Attitude error is zero. Control Velocity and acceleration goals are zero.

Enable/Disable Control

In the case a new controller is to be tested, it is possible to enable/disble the current controller using the service gnc/ctl/enable. true will enable the control and false will disable it. If the requested state is the one already active, then the service does not return success.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
roscpp
nodelet
ff_msgs
ff_util
config_reader
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/ctl.launch
    • Copyright (c) 2017, United States Government, as represented by the
      • name [default: ctl]
      • manager [default: ]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged ctl at Robotics Stack Exchange

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ctl package from astrobee repo

astrobee arm dock light_flow perch states comms_bridge dds_msgs dds_ros_bridge ff_hw_msgs ff_msgs ground_dds_ros_bridge description ctl fam pmc eps_driver epson_imu fam_cmd_i2c ff_serial flashlight gpio i2c is_camera laser perching_arm pico_driver pmc_actuator signal_lights smart_dock speed_cam temp_monitor vive camera depth_odometry factor_adders graph_factors graph_localizer graph_optimizer graph_vio ground_truth_localizer handrail_detect imu_integration interest_point lk_optical_flow localization_common localization_manager localization_measurements localization_node marker_tracking node_adders nodes optimization_common optimizers parameter_reader point_cloud_common ros_graph_localizer ros_graph_vio ros_pose_extrapolator sliding_window_graph_optimizer sparse_mapping tutorial_examples vision_common vive_localization access_control cpu_mem_monitor data_bagger disk_monitor executive image_sampler log_monitor sys_monitor choreographer framestore mapper mobility planner_qp traj_opt_basic traj_opt_msgs traj_opt_pro traj_opt_ros planner_trapezoidal config_reader ff_common ff_util jsonloader msg_conversions astrobee_gazebo bag_processing calibration gds_helper gnc_visualizer interactive_marker_teleop localization_analysis localization_rviz_plugins performance_tester

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.0.0
License Apache License, Version 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/nasa/astrobee.git
VCS Type git
VCS Version master
Last Updated 2024-07-03
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Calls the GNC simulink auto-generated control code, and passes inputs and outputs to and from ros messages.

Additional Links

No additional links.

Maintainers

  • Astrobee Flight Software

Authors

  • Astrobee Flight Software
gnc/ctl/readme.md

\page ctl Control (CTL)

The control subsystem takes the pose from the EKF, as well as control commands, to determine the forces and torques that should be applied to the robot for smooth control. If executes the given segment based on a trajectory given by the choreographer, the fault checking on the execution is done in the choreographer based on the feedback.

The layout of this module is a bit complicated for historical reasons— the ctl_nodelet is a thin wrapper to the Ctl class in ctl_ros.h which interfaces between different modules via ROS. The Control class in ctl.h then implements the main underlying functionality.

Inputs

  • gnc/ekf: EKF State from EKF
  • gnc/ctl/control Action. See the Control action specification for details.

Outputs

  • gnc/ctl/command: The force and torque commanded by control.
  • gnc/ctl/shaper: The output from the GNC command shaper, which smooths the control.
  • gnc/ctl/traj: The trajectory that the control subsystem is being commanded to follow.
  • gnc/ctl/segment: The current segment the control subsystem is traversing.
  • gnc/ctl/progress: The progress in executing the current segment.

GNC Control Wrapper behavior

\dotfile ctl_fsm “GNC Control Wrapper finite state machine” width=10cm

  • WAITING: No setpoints sent to the internal Matlab controller.
  • NOMINAL: Waits until the start time for deferred executions, commands the setpoints to the internal Matlab in nominal mode until the desired trajectory is finished.
  • STOPPING: Commands internal Matlab into stopping mode. When the velocity and angular velocity fall under a certain stop threshould, it succeeds.

Modes

The controller internally has four modes:

  • Idle: No control is present.
  • Stopping: Position error is calculated based on the delayed current position and the current position. Velocity and acceleration commands are zero.
  • Nominal: It follows the trajectory given for position, velocity and acceleraion.
  • Stopped: Position/Attitude error is zero. Control Velocity and acceleration goals are zero.

Enable/Disable Control

In the case a new controller is to be tested, it is possible to enable/disble the current controller using the service gnc/ctl/enable. true will enable the control and false will disable it. If the requested state is the one already active, then the service does not return success.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
roscpp
nodelet
ff_msgs
ff_util
config_reader
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/ctl.launch
    • Copyright (c) 2017, United States Government, as represented by the
      • name [default: ctl]
      • manager [default: ]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged ctl at Robotics Stack Exchange