• launch/start_auv_teleop.launch
  • • uuv_name [default: eca_a9]
    • joy_id [default: 0]
• launch/start_control_allocator.launch
• launch/start_geometric_tracking_control.launch
  • • uuv_name [default: eca_a9]
    • gui_on [default: true]
    • max_forward_speed [default: 2]
    • dubins_radius [default: 10]
    • min_thrust [default: 0]
    • max_thrust [default: 120]
    • thrust_p_gain [default: 5.0]
    • thrust_d_gain [default: 0.01]
    • p_roll [default: 0.2]
    • p_pitch [default: 0.8]
    • d_pitch [default: 0.0]
    • p_yaw [default: 0.8]
    • d_yaw [default: 0.0]
    • n_fins [default: 4]
    • max_fin_angle [default: 1.396263402]
    • idle_radius [default: 30]
    • look_ahead_delay [default: 0.0]
    • dubins_max_pitch [default: 0.26]
    • desired_pitch_limit [default: 0.26]
    • yaw_error_limit [default: 1.57]
    • use_ned_frame [default: false]
    • stamped_pose_only [default: false]
    • timeout_idle_mode [default: 5]
    • thruster_topic [default: thrusters/0/input]
    • thruster_topic_prefix [default: thrusters]
    • thruster_topic_suffix [default: input]
    • thruster_frame_base [default: thruster_]
    • thruster_conversion_fcn [default: proportional]
    • thruster_gain [default: 0.000049]
    • fin_topic_prefix [default: fins]
    • fin_topic_suffix [default: input]
• launch/start_nmb_sm_control.launch
  • • uuv_name [default: eca_a9]
    • gui_on [default: true]
    • use_ned_frame [default: false]
    • teleop_on [default: false]
    • joy_id [default: 0]
    • axis_yaw [default: 0]
    • axis_x [default: 4]
    • axis_y [default: 3]
    • axis_z [default: 1]
    • Kd [default: 24.328999405818507,95.16574836816616,25.943377407248825,0,6.388371356010936,79.2844976871164]
    • Ki [default: 0.0010232768152540483,0.0010232768152540483,0.0010232768152540483,0,0.11901644069756079,0.11901644069756079]
    • slope [default: 0.9903858668992097,0.9903858668992097,0.9903858668992097,0,0.20796465986893387,0.20796465986893387]
    • look_ahead_delay [default: 2.0]
    • min_thrust [default: 40]

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