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rexrov2_control package from rexrov2 repo

rexrov2_control rexrov2_description rexrov2_gazebo

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 0.1.3
License Apache-2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/uuvsimulator/rexrov2.git
VCS Type git
VCS Version master
Last Updated 2020-06-15
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch and configuration files to start controllers nodes from the [`uuv_trajectory_control`](https://github.com/uuvsimulator/uuv_simulator/tree/master/uuv_control/uuv_trajectory_control) package for the RexROV 2 vehicle.

Additional Links

No additional links.

Maintainers

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat

Authors

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat
README
No README found. See repository README.
CHANGELOG

Changelog for package rexrov2_control

0.1.3 (2019-04-05)

0.1.2 (2019-03-12)

  • Update package format Signed-off-by: Musa Morena Marcusso Manhães <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhães

0.1.1 (2019-02-14)

0.1.0 (2018-07-04)

  • FIX Package version number Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #16 from uuvsimulator/fix/add_max_forward_speed ADD Max. forward speed argument to NMB SM control launch file
  • ADD Max. forward speed argument to NMB SM control launch file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #14 from uuvsimulator/feature/pd_with_compensation ADD Launch files for PD controller with compensation of restoring forces
  • ADD Launch files for PD controller with compensation of restoring forces Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #13 from uuvsimulator/fix/controller_launch_files Fix/controller launch files
  • FIX Launch files input arguments Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • ADD File with vehicle's exact parameters Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #12 from uuvsimulator/fix/mb_fl_record_path FIX Path to default ROS bag
  • FIX Path to default ROS bag Signed-off-by: Musa Morena Marcusso Manhaes (CR/AEI) <<musa.marcusso@de.bosch.com>>
  • Merge pull request #11 from uuvsimulator/fix/set_ned_frame FIX use_ned_frame was flag to NED inertial frame
  • FIX use_ned_frame was flag to NED inertial frame
  • Merge pull request #10 from uuvsimulator/feature/new_sensor_macros Feature/new sensor macros
  • FIX Model parameters vehicle ID Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #8 from uuvsimulator/feature/rviz_visualization_config CHANGE RViz demo configuration file
  • CHANGE RViz demo configuration file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #4 from uuvsimulator/fix/typo_package_xml FIX Typo in package.xml
  • FIX Typo in package.xml Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #1 from uuvsimulator/feature/transfer_files ADD Initial files for licensing and vehicle model configuration
  • ADD Initial files for licensing and vehicle model configuration Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhaes, Musa Morena Marcusso Manhaes (CR/AEI), Musa Morena Marcusso Manhães

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rexrov2_gazebo

Launch files

  • launch/record_demo.launch
    • Starts the `rosbag record` node and records a set of topics for the RexROV 2.
      • record [default: false] — Starts the recording node if set to true
      • bag_filename [default: recording.bag] — Filename for the recording ROS bag
      • use_ned_frame [default: false] — If set to true, stores the odometry with respect to NED frame
      • uuv_name [default: rexrov2] — Namespace of the vehicle
  • launch/start_mb_fl_controller.launch
    • Starts the [model-based feedback linearization controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_mb_fl_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_mb_fl_controller.launch ```
      • uuv_name [default: rexrov2]
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: false]
      • Kp [default: 7750.307,7750.307,7750.307,7430.825,7430.825,7430.825]
      • Kd [default: 8953.924,8953.924,8953.924,8267.137,8267.137,8267.137]
      • Ki [default: 9144.575,9144.575,9144.575,2095.077,2095.077,2095.077]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_nmb_sm_controller.launch
    • Starts the [non-model-based sliding mode controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_nmb_sm_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `K`, `Kd`, `Ki` and `slope` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_nmb_sm_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • K [default: 5,5,5,5,5,5] — Coefficients for the $K$ diagonal matrix
      • Kd [default: 4490.0,4490.0,4490.0,19541.395,19541.395,19541.395] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 0.1,0.1,0.1,0.476,0.476,0.476] — Coefficients for the $K_i$ diagonal matrix
      • slope [default: 3.83,3.83,3.83,0.508,0.508,0.508] — Coefficients for the $\alpha$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • max_forward_speed [default: 0.5] — Maximum forward speed in m/s
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
  • launch/start_pd_grav_compensation_controller.launch
    • Starts the [PD controller with compensation of restoring forces](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pd_grav_compensation_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pd_grav_compensation_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 1000,1000,1000,1000,1000,1000] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 100,100,100,100,100,100] — Coefficients for the $K_d$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml] — File storing the vehicle model parameters loaded by the controller
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_pid_controller.launch
    • Starts the [6-DoF PID controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pid_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pid_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951] — Coefficients for the $K_i$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_sf_controller.launch
    • Starts the [singulary-tree tracking controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_sf_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_sf_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: true]
      • Kd [default: 1000.0,1000.0,1000.0,100.0,100.0,100.0]
      • lambda [default: 100.0]
      • c [default: 100.0]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_thruster_manager.launch
    • Starts the [thruster allocator node](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_thruster_manager/scripts/thruster_allocator.py) with the configuration for the RexROV 2 vehicle. The thruster allocator uses the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) to convert the [geometry_msgs/Wrench message](https://docs.ros.org/lunar/api/geometry_msgs/html/msg/Wrench.html) from the `//thruster_manager/input` topic into reference input for each thruster unit. > **Create or reset the thruster allocation matrix** In case the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) has to be created or recalculated, start the simulation as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` and then start the thruster manager with the `reset_tam` set to true. The file will be stored under the filename provided with the path under the input `tam_file` as follows ``` roslaunch rexrov2_control start_thruster_manager.launch reset_tam:=true ``` > **Example** Start the simulation, spawn the RexROV 2 vehicle and then start the thruster allocation node as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_thruster_manager.launch ``` !!! note A controller node or similar must publish the geometry_msgs/Wrench message in the `//thruster_manager/input` topic for the vehicle to move.
      • model_name [default: rexrov2] — Name of the model of the vehicle
      • uuv_name [default: $(arg model_name)] — Namespace for the vehicle instance
      • base_link [default: base_link] — Name of the base link frame
      • timeout [default: -1]
      • reset_tam [default: false]
      • output_dir [default: $(find rexrov2_control)/config]
      • config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
  • launch/start_velocity_control.launch
      • model_name [default: rexrov2]
      • uuv_name [default: $(arg model_name)]
      • joy_id [default: 0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rexrov2_control at Robotics Stack Exchange

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Package symbol

rexrov2_control package from rexrov2 repo

rexrov2_control rexrov2_description rexrov2_gazebo

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 0.1.3
License Apache-2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/uuvsimulator/rexrov2.git
VCS Type git
VCS Version master
Last Updated 2020-06-15
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch and configuration files to start controllers nodes from the [`uuv_trajectory_control`](https://github.com/uuvsimulator/uuv_simulator/tree/master/uuv_control/uuv_trajectory_control) package for the RexROV 2 vehicle.

Additional Links

No additional links.

Maintainers

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat

Authors

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat
README
No README found. See repository README.
CHANGELOG

Changelog for package rexrov2_control

0.1.3 (2019-04-05)

0.1.2 (2019-03-12)

  • Update package format Signed-off-by: Musa Morena Marcusso Manhães <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhães

0.1.1 (2019-02-14)

0.1.0 (2018-07-04)

  • FIX Package version number Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #16 from uuvsimulator/fix/add_max_forward_speed ADD Max. forward speed argument to NMB SM control launch file
  • ADD Max. forward speed argument to NMB SM control launch file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #14 from uuvsimulator/feature/pd_with_compensation ADD Launch files for PD controller with compensation of restoring forces
  • ADD Launch files for PD controller with compensation of restoring forces Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #13 from uuvsimulator/fix/controller_launch_files Fix/controller launch files
  • FIX Launch files input arguments Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • ADD File with vehicle's exact parameters Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #12 from uuvsimulator/fix/mb_fl_record_path FIX Path to default ROS bag
  • FIX Path to default ROS bag Signed-off-by: Musa Morena Marcusso Manhaes (CR/AEI) <<musa.marcusso@de.bosch.com>>
  • Merge pull request #11 from uuvsimulator/fix/set_ned_frame FIX use_ned_frame was flag to NED inertial frame
  • FIX use_ned_frame was flag to NED inertial frame
  • Merge pull request #10 from uuvsimulator/feature/new_sensor_macros Feature/new sensor macros
  • FIX Model parameters vehicle ID Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #8 from uuvsimulator/feature/rviz_visualization_config CHANGE RViz demo configuration file
  • CHANGE RViz demo configuration file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #4 from uuvsimulator/fix/typo_package_xml FIX Typo in package.xml
  • FIX Typo in package.xml Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #1 from uuvsimulator/feature/transfer_files ADD Initial files for licensing and vehicle model configuration
  • ADD Initial files for licensing and vehicle model configuration Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhaes, Musa Morena Marcusso Manhaes (CR/AEI), Musa Morena Marcusso Manhães

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rexrov2_gazebo

Launch files

  • launch/record_demo.launch
    • Starts the `rosbag record` node and records a set of topics for the RexROV 2.
      • record [default: false] — Starts the recording node if set to true
      • bag_filename [default: recording.bag] — Filename for the recording ROS bag
      • use_ned_frame [default: false] — If set to true, stores the odometry with respect to NED frame
      • uuv_name [default: rexrov2] — Namespace of the vehicle
  • launch/start_mb_fl_controller.launch
    • Starts the [model-based feedback linearization controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_mb_fl_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_mb_fl_controller.launch ```
      • uuv_name [default: rexrov2]
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: false]
      • Kp [default: 7750.307,7750.307,7750.307,7430.825,7430.825,7430.825]
      • Kd [default: 8953.924,8953.924,8953.924,8267.137,8267.137,8267.137]
      • Ki [default: 9144.575,9144.575,9144.575,2095.077,2095.077,2095.077]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_nmb_sm_controller.launch
    • Starts the [non-model-based sliding mode controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_nmb_sm_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `K`, `Kd`, `Ki` and `slope` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_nmb_sm_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • K [default: 5,5,5,5,5,5] — Coefficients for the $K$ diagonal matrix
      • Kd [default: 4490.0,4490.0,4490.0,19541.395,19541.395,19541.395] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 0.1,0.1,0.1,0.476,0.476,0.476] — Coefficients for the $K_i$ diagonal matrix
      • slope [default: 3.83,3.83,3.83,0.508,0.508,0.508] — Coefficients for the $\alpha$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • max_forward_speed [default: 0.5] — Maximum forward speed in m/s
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
  • launch/start_pd_grav_compensation_controller.launch
    • Starts the [PD controller with compensation of restoring forces](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pd_grav_compensation_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pd_grav_compensation_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 1000,1000,1000,1000,1000,1000] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 100,100,100,100,100,100] — Coefficients for the $K_d$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml] — File storing the vehicle model parameters loaded by the controller
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_pid_controller.launch
    • Starts the [6-DoF PID controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pid_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pid_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951] — Coefficients for the $K_i$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_sf_controller.launch
    • Starts the [singulary-tree tracking controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_sf_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_sf_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: true]
      • Kd [default: 1000.0,1000.0,1000.0,100.0,100.0,100.0]
      • lambda [default: 100.0]
      • c [default: 100.0]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_thruster_manager.launch
    • Starts the [thruster allocator node](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_thruster_manager/scripts/thruster_allocator.py) with the configuration for the RexROV 2 vehicle. The thruster allocator uses the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) to convert the [geometry_msgs/Wrench message](https://docs.ros.org/lunar/api/geometry_msgs/html/msg/Wrench.html) from the `//thruster_manager/input` topic into reference input for each thruster unit. > **Create or reset the thruster allocation matrix** In case the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) has to be created or recalculated, start the simulation as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` and then start the thruster manager with the `reset_tam` set to true. The file will be stored under the filename provided with the path under the input `tam_file` as follows ``` roslaunch rexrov2_control start_thruster_manager.launch reset_tam:=true ``` > **Example** Start the simulation, spawn the RexROV 2 vehicle and then start the thruster allocation node as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_thruster_manager.launch ``` !!! note A controller node or similar must publish the geometry_msgs/Wrench message in the `//thruster_manager/input` topic for the vehicle to move.
      • model_name [default: rexrov2] — Name of the model of the vehicle
      • uuv_name [default: $(arg model_name)] — Namespace for the vehicle instance
      • base_link [default: base_link] — Name of the base link frame
      • timeout [default: -1]
      • reset_tam [default: false]
      • output_dir [default: $(find rexrov2_control)/config]
      • config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
  • launch/start_velocity_control.launch
      • model_name [default: rexrov2]
      • uuv_name [default: $(arg model_name)]
      • joy_id [default: 0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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rexrov2_control package from rexrov2 repo

rexrov2_control rexrov2_description rexrov2_gazebo

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 0.1.3
License Apache-2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/uuvsimulator/rexrov2.git
VCS Type git
VCS Version master
Last Updated 2020-06-15
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch and configuration files to start controllers nodes from the [`uuv_trajectory_control`](https://github.com/uuvsimulator/uuv_simulator/tree/master/uuv_control/uuv_trajectory_control) package for the RexROV 2 vehicle.

Additional Links

No additional links.

Maintainers

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat

Authors

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat
README
No README found. See repository README.
CHANGELOG

Changelog for package rexrov2_control

0.1.3 (2019-04-05)

0.1.2 (2019-03-12)

  • Update package format Signed-off-by: Musa Morena Marcusso Manhães <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhães

0.1.1 (2019-02-14)

0.1.0 (2018-07-04)

  • FIX Package version number Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #16 from uuvsimulator/fix/add_max_forward_speed ADD Max. forward speed argument to NMB SM control launch file
  • ADD Max. forward speed argument to NMB SM control launch file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #14 from uuvsimulator/feature/pd_with_compensation ADD Launch files for PD controller with compensation of restoring forces
  • ADD Launch files for PD controller with compensation of restoring forces Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #13 from uuvsimulator/fix/controller_launch_files Fix/controller launch files
  • FIX Launch files input arguments Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • ADD File with vehicle's exact parameters Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #12 from uuvsimulator/fix/mb_fl_record_path FIX Path to default ROS bag
  • FIX Path to default ROS bag Signed-off-by: Musa Morena Marcusso Manhaes (CR/AEI) <<musa.marcusso@de.bosch.com>>
  • Merge pull request #11 from uuvsimulator/fix/set_ned_frame FIX use_ned_frame was flag to NED inertial frame
  • FIX use_ned_frame was flag to NED inertial frame
  • Merge pull request #10 from uuvsimulator/feature/new_sensor_macros Feature/new sensor macros
  • FIX Model parameters vehicle ID Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #8 from uuvsimulator/feature/rviz_visualization_config CHANGE RViz demo configuration file
  • CHANGE RViz demo configuration file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #4 from uuvsimulator/fix/typo_package_xml FIX Typo in package.xml
  • FIX Typo in package.xml Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #1 from uuvsimulator/feature/transfer_files ADD Initial files for licensing and vehicle model configuration
  • ADD Initial files for licensing and vehicle model configuration Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhaes, Musa Morena Marcusso Manhaes (CR/AEI), Musa Morena Marcusso Manhães

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rexrov2_gazebo

Launch files

  • launch/record_demo.launch
    • Starts the `rosbag record` node and records a set of topics for the RexROV 2.
      • record [default: false] — Starts the recording node if set to true
      • bag_filename [default: recording.bag] — Filename for the recording ROS bag
      • use_ned_frame [default: false] — If set to true, stores the odometry with respect to NED frame
      • uuv_name [default: rexrov2] — Namespace of the vehicle
  • launch/start_mb_fl_controller.launch
    • Starts the [model-based feedback linearization controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_mb_fl_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_mb_fl_controller.launch ```
      • uuv_name [default: rexrov2]
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: false]
      • Kp [default: 7750.307,7750.307,7750.307,7430.825,7430.825,7430.825]
      • Kd [default: 8953.924,8953.924,8953.924,8267.137,8267.137,8267.137]
      • Ki [default: 9144.575,9144.575,9144.575,2095.077,2095.077,2095.077]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_nmb_sm_controller.launch
    • Starts the [non-model-based sliding mode controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_nmb_sm_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `K`, `Kd`, `Ki` and `slope` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_nmb_sm_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • K [default: 5,5,5,5,5,5] — Coefficients for the $K$ diagonal matrix
      • Kd [default: 4490.0,4490.0,4490.0,19541.395,19541.395,19541.395] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 0.1,0.1,0.1,0.476,0.476,0.476] — Coefficients for the $K_i$ diagonal matrix
      • slope [default: 3.83,3.83,3.83,0.508,0.508,0.508] — Coefficients for the $\alpha$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • max_forward_speed [default: 0.5] — Maximum forward speed in m/s
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
  • launch/start_pd_grav_compensation_controller.launch
    • Starts the [PD controller with compensation of restoring forces](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pd_grav_compensation_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pd_grav_compensation_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 1000,1000,1000,1000,1000,1000] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 100,100,100,100,100,100] — Coefficients for the $K_d$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml] — File storing the vehicle model parameters loaded by the controller
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_pid_controller.launch
    • Starts the [6-DoF PID controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pid_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pid_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951] — Coefficients for the $K_i$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_sf_controller.launch
    • Starts the [singulary-tree tracking controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_sf_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_sf_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: true]
      • Kd [default: 1000.0,1000.0,1000.0,100.0,100.0,100.0]
      • lambda [default: 100.0]
      • c [default: 100.0]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_thruster_manager.launch
    • Starts the [thruster allocator node](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_thruster_manager/scripts/thruster_allocator.py) with the configuration for the RexROV 2 vehicle. The thruster allocator uses the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) to convert the [geometry_msgs/Wrench message](https://docs.ros.org/lunar/api/geometry_msgs/html/msg/Wrench.html) from the `//thruster_manager/input` topic into reference input for each thruster unit. > **Create or reset the thruster allocation matrix** In case the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) has to be created or recalculated, start the simulation as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` and then start the thruster manager with the `reset_tam` set to true. The file will be stored under the filename provided with the path under the input `tam_file` as follows ``` roslaunch rexrov2_control start_thruster_manager.launch reset_tam:=true ``` > **Example** Start the simulation, spawn the RexROV 2 vehicle and then start the thruster allocation node as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_thruster_manager.launch ``` !!! note A controller node or similar must publish the geometry_msgs/Wrench message in the `//thruster_manager/input` topic for the vehicle to move.
      • model_name [default: rexrov2] — Name of the model of the vehicle
      • uuv_name [default: $(arg model_name)] — Namespace for the vehicle instance
      • base_link [default: base_link] — Name of the base link frame
      • timeout [default: -1]
      • reset_tam [default: false]
      • output_dir [default: $(find rexrov2_control)/config]
      • config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
  • launch/start_velocity_control.launch
      • model_name [default: rexrov2]
      • uuv_name [default: $(arg model_name)]
      • joy_id [default: 0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rexrov2_control at Robotics Stack Exchange

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

rexrov2_control package from rexrov2 repo

rexrov2_control rexrov2_description rexrov2_gazebo

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 0.1.3
License Apache-2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/uuvsimulator/rexrov2.git
VCS Type git
VCS Version master
Last Updated 2020-06-15
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch and configuration files to start controllers nodes from the [`uuv_trajectory_control`](https://github.com/uuvsimulator/uuv_simulator/tree/master/uuv_control/uuv_trajectory_control) package for the RexROV 2 vehicle.

Additional Links

No additional links.

Maintainers

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat

Authors

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat
README
No README found. See repository README.
CHANGELOG

Changelog for package rexrov2_control

0.1.3 (2019-04-05)

0.1.2 (2019-03-12)

  • Update package format Signed-off-by: Musa Morena Marcusso Manhães <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhães

0.1.1 (2019-02-14)

0.1.0 (2018-07-04)

  • FIX Package version number Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #16 from uuvsimulator/fix/add_max_forward_speed ADD Max. forward speed argument to NMB SM control launch file
  • ADD Max. forward speed argument to NMB SM control launch file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #14 from uuvsimulator/feature/pd_with_compensation ADD Launch files for PD controller with compensation of restoring forces
  • ADD Launch files for PD controller with compensation of restoring forces Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #13 from uuvsimulator/fix/controller_launch_files Fix/controller launch files
  • FIX Launch files input arguments Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • ADD File with vehicle's exact parameters Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #12 from uuvsimulator/fix/mb_fl_record_path FIX Path to default ROS bag
  • FIX Path to default ROS bag Signed-off-by: Musa Morena Marcusso Manhaes (CR/AEI) <<musa.marcusso@de.bosch.com>>
  • Merge pull request #11 from uuvsimulator/fix/set_ned_frame FIX use_ned_frame was flag to NED inertial frame
  • FIX use_ned_frame was flag to NED inertial frame
  • Merge pull request #10 from uuvsimulator/feature/new_sensor_macros Feature/new sensor macros
  • FIX Model parameters vehicle ID Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #8 from uuvsimulator/feature/rviz_visualization_config CHANGE RViz demo configuration file
  • CHANGE RViz demo configuration file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #4 from uuvsimulator/fix/typo_package_xml FIX Typo in package.xml
  • FIX Typo in package.xml Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #1 from uuvsimulator/feature/transfer_files ADD Initial files for licensing and vehicle model configuration
  • ADD Initial files for licensing and vehicle model configuration Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhaes, Musa Morena Marcusso Manhaes (CR/AEI), Musa Morena Marcusso Manhães

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rexrov2_gazebo

Launch files

  • launch/record_demo.launch
    • Starts the `rosbag record` node and records a set of topics for the RexROV 2.
      • record [default: false] — Starts the recording node if set to true
      • bag_filename [default: recording.bag] — Filename for the recording ROS bag
      • use_ned_frame [default: false] — If set to true, stores the odometry with respect to NED frame
      • uuv_name [default: rexrov2] — Namespace of the vehicle
  • launch/start_mb_fl_controller.launch
    • Starts the [model-based feedback linearization controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_mb_fl_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_mb_fl_controller.launch ```
      • uuv_name [default: rexrov2]
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: false]
      • Kp [default: 7750.307,7750.307,7750.307,7430.825,7430.825,7430.825]
      • Kd [default: 8953.924,8953.924,8953.924,8267.137,8267.137,8267.137]
      • Ki [default: 9144.575,9144.575,9144.575,2095.077,2095.077,2095.077]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_nmb_sm_controller.launch
    • Starts the [non-model-based sliding mode controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_nmb_sm_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `K`, `Kd`, `Ki` and `slope` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_nmb_sm_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • K [default: 5,5,5,5,5,5] — Coefficients for the $K$ diagonal matrix
      • Kd [default: 4490.0,4490.0,4490.0,19541.395,19541.395,19541.395] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 0.1,0.1,0.1,0.476,0.476,0.476] — Coefficients for the $K_i$ diagonal matrix
      • slope [default: 3.83,3.83,3.83,0.508,0.508,0.508] — Coefficients for the $\alpha$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • max_forward_speed [default: 0.5] — Maximum forward speed in m/s
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
  • launch/start_pd_grav_compensation_controller.launch
    • Starts the [PD controller with compensation of restoring forces](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pd_grav_compensation_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pd_grav_compensation_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 1000,1000,1000,1000,1000,1000] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 100,100,100,100,100,100] — Coefficients for the $K_d$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml] — File storing the vehicle model parameters loaded by the controller
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_pid_controller.launch
    • Starts the [6-DoF PID controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pid_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pid_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951] — Coefficients for the $K_i$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_sf_controller.launch
    • Starts the [singulary-tree tracking controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_sf_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_sf_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: true]
      • Kd [default: 1000.0,1000.0,1000.0,100.0,100.0,100.0]
      • lambda [default: 100.0]
      • c [default: 100.0]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_thruster_manager.launch
    • Starts the [thruster allocator node](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_thruster_manager/scripts/thruster_allocator.py) with the configuration for the RexROV 2 vehicle. The thruster allocator uses the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) to convert the [geometry_msgs/Wrench message](https://docs.ros.org/lunar/api/geometry_msgs/html/msg/Wrench.html) from the `//thruster_manager/input` topic into reference input for each thruster unit. > **Create or reset the thruster allocation matrix** In case the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) has to be created or recalculated, start the simulation as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` and then start the thruster manager with the `reset_tam` set to true. The file will be stored under the filename provided with the path under the input `tam_file` as follows ``` roslaunch rexrov2_control start_thruster_manager.launch reset_tam:=true ``` > **Example** Start the simulation, spawn the RexROV 2 vehicle and then start the thruster allocation node as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_thruster_manager.launch ``` !!! note A controller node or similar must publish the geometry_msgs/Wrench message in the `//thruster_manager/input` topic for the vehicle to move.
      • model_name [default: rexrov2] — Name of the model of the vehicle
      • uuv_name [default: $(arg model_name)] — Namespace for the vehicle instance
      • base_link [default: base_link] — Name of the base link frame
      • timeout [default: -1]
      • reset_tam [default: false]
      • output_dir [default: $(find rexrov2_control)/config]
      • config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
  • launch/start_velocity_control.launch
      • model_name [default: rexrov2]
      • uuv_name [default: $(arg model_name)]
      • joy_id [default: 0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rexrov2_control at Robotics Stack Exchange

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

rexrov2_control package from rexrov2 repo

rexrov2_control rexrov2_description rexrov2_gazebo

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 0.1.3
License Apache-2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/uuvsimulator/rexrov2.git
VCS Type git
VCS Version master
Last Updated 2020-06-15
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch and configuration files to start controllers nodes from the [`uuv_trajectory_control`](https://github.com/uuvsimulator/uuv_simulator/tree/master/uuv_control/uuv_trajectory_control) package for the RexROV 2 vehicle.

Additional Links

No additional links.

Maintainers

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat

Authors

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat
README
No README found. See repository README.
CHANGELOG

Changelog for package rexrov2_control

0.1.3 (2019-04-05)

0.1.2 (2019-03-12)

  • Update package format Signed-off-by: Musa Morena Marcusso Manhães <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhães

0.1.1 (2019-02-14)

0.1.0 (2018-07-04)

  • FIX Package version number Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #16 from uuvsimulator/fix/add_max_forward_speed ADD Max. forward speed argument to NMB SM control launch file
  • ADD Max. forward speed argument to NMB SM control launch file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #14 from uuvsimulator/feature/pd_with_compensation ADD Launch files for PD controller with compensation of restoring forces
  • ADD Launch files for PD controller with compensation of restoring forces Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #13 from uuvsimulator/fix/controller_launch_files Fix/controller launch files
  • FIX Launch files input arguments Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • ADD File with vehicle's exact parameters Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #12 from uuvsimulator/fix/mb_fl_record_path FIX Path to default ROS bag
  • FIX Path to default ROS bag Signed-off-by: Musa Morena Marcusso Manhaes (CR/AEI) <<musa.marcusso@de.bosch.com>>
  • Merge pull request #11 from uuvsimulator/fix/set_ned_frame FIX use_ned_frame was flag to NED inertial frame
  • FIX use_ned_frame was flag to NED inertial frame
  • Merge pull request #10 from uuvsimulator/feature/new_sensor_macros Feature/new sensor macros
  • FIX Model parameters vehicle ID Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #8 from uuvsimulator/feature/rviz_visualization_config CHANGE RViz demo configuration file
  • CHANGE RViz demo configuration file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #4 from uuvsimulator/fix/typo_package_xml FIX Typo in package.xml
  • FIX Typo in package.xml Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #1 from uuvsimulator/feature/transfer_files ADD Initial files for licensing and vehicle model configuration
  • ADD Initial files for licensing and vehicle model configuration Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhaes, Musa Morena Marcusso Manhaes (CR/AEI), Musa Morena Marcusso Manhães

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rexrov2_gazebo

Launch files

  • launch/record_demo.launch
    • Starts the `rosbag record` node and records a set of topics for the RexROV 2.
      • record [default: false] — Starts the recording node if set to true
      • bag_filename [default: recording.bag] — Filename for the recording ROS bag
      • use_ned_frame [default: false] — If set to true, stores the odometry with respect to NED frame
      • uuv_name [default: rexrov2] — Namespace of the vehicle
  • launch/start_mb_fl_controller.launch
    • Starts the [model-based feedback linearization controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_mb_fl_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_mb_fl_controller.launch ```
      • uuv_name [default: rexrov2]
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: false]
      • Kp [default: 7750.307,7750.307,7750.307,7430.825,7430.825,7430.825]
      • Kd [default: 8953.924,8953.924,8953.924,8267.137,8267.137,8267.137]
      • Ki [default: 9144.575,9144.575,9144.575,2095.077,2095.077,2095.077]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_nmb_sm_controller.launch
    • Starts the [non-model-based sliding mode controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_nmb_sm_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `K`, `Kd`, `Ki` and `slope` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_nmb_sm_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • K [default: 5,5,5,5,5,5] — Coefficients for the $K$ diagonal matrix
      • Kd [default: 4490.0,4490.0,4490.0,19541.395,19541.395,19541.395] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 0.1,0.1,0.1,0.476,0.476,0.476] — Coefficients for the $K_i$ diagonal matrix
      • slope [default: 3.83,3.83,3.83,0.508,0.508,0.508] — Coefficients for the $\alpha$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • max_forward_speed [default: 0.5] — Maximum forward speed in m/s
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
  • launch/start_pd_grav_compensation_controller.launch
    • Starts the [PD controller with compensation of restoring forces](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pd_grav_compensation_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pd_grav_compensation_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 1000,1000,1000,1000,1000,1000] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 100,100,100,100,100,100] — Coefficients for the $K_d$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml] — File storing the vehicle model parameters loaded by the controller
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_pid_controller.launch
    • Starts the [6-DoF PID controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pid_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pid_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951] — Coefficients for the $K_i$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_sf_controller.launch
    • Starts the [singulary-tree tracking controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_sf_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_sf_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: true]
      • Kd [default: 1000.0,1000.0,1000.0,100.0,100.0,100.0]
      • lambda [default: 100.0]
      • c [default: 100.0]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_thruster_manager.launch
    • Starts the [thruster allocator node](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_thruster_manager/scripts/thruster_allocator.py) with the configuration for the RexROV 2 vehicle. The thruster allocator uses the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) to convert the [geometry_msgs/Wrench message](https://docs.ros.org/lunar/api/geometry_msgs/html/msg/Wrench.html) from the `//thruster_manager/input` topic into reference input for each thruster unit. > **Create or reset the thruster allocation matrix** In case the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) has to be created or recalculated, start the simulation as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` and then start the thruster manager with the `reset_tam` set to true. The file will be stored under the filename provided with the path under the input `tam_file` as follows ``` roslaunch rexrov2_control start_thruster_manager.launch reset_tam:=true ``` > **Example** Start the simulation, spawn the RexROV 2 vehicle and then start the thruster allocation node as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_thruster_manager.launch ``` !!! note A controller node or similar must publish the geometry_msgs/Wrench message in the `//thruster_manager/input` topic for the vehicle to move.
      • model_name [default: rexrov2] — Name of the model of the vehicle
      • uuv_name [default: $(arg model_name)] — Namespace for the vehicle instance
      • base_link [default: base_link] — Name of the base link frame
      • timeout [default: -1]
      • reset_tam [default: false]
      • output_dir [default: $(find rexrov2_control)/config]
      • config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
  • launch/start_velocity_control.launch
      • model_name [default: rexrov2]
      • uuv_name [default: $(arg model_name)]
      • joy_id [default: 0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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rexrov2_control package from rexrov2 repo

rexrov2_control rexrov2_description rexrov2_gazebo

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 0.1.3
License Apache-2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/uuvsimulator/rexrov2.git
VCS Type git
VCS Version master
Last Updated 2020-06-15
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch and configuration files to start controllers nodes from the [`uuv_trajectory_control`](https://github.com/uuvsimulator/uuv_simulator/tree/master/uuv_control/uuv_trajectory_control) package for the RexROV 2 vehicle.

Additional Links

No additional links.

Maintainers

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat

Authors

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat
README
No README found. See repository README.
CHANGELOG

Changelog for package rexrov2_control

0.1.3 (2019-04-05)

0.1.2 (2019-03-12)

  • Update package format Signed-off-by: Musa Morena Marcusso Manhães <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhães

0.1.1 (2019-02-14)

0.1.0 (2018-07-04)

  • FIX Package version number Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #16 from uuvsimulator/fix/add_max_forward_speed ADD Max. forward speed argument to NMB SM control launch file
  • ADD Max. forward speed argument to NMB SM control launch file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #14 from uuvsimulator/feature/pd_with_compensation ADD Launch files for PD controller with compensation of restoring forces
  • ADD Launch files for PD controller with compensation of restoring forces Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #13 from uuvsimulator/fix/controller_launch_files Fix/controller launch files
  • FIX Launch files input arguments Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • ADD File with vehicle's exact parameters Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #12 from uuvsimulator/fix/mb_fl_record_path FIX Path to default ROS bag
  • FIX Path to default ROS bag Signed-off-by: Musa Morena Marcusso Manhaes (CR/AEI) <<musa.marcusso@de.bosch.com>>
  • Merge pull request #11 from uuvsimulator/fix/set_ned_frame FIX use_ned_frame was flag to NED inertial frame
  • FIX use_ned_frame was flag to NED inertial frame
  • Merge pull request #10 from uuvsimulator/feature/new_sensor_macros Feature/new sensor macros
  • FIX Model parameters vehicle ID Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #8 from uuvsimulator/feature/rviz_visualization_config CHANGE RViz demo configuration file
  • CHANGE RViz demo configuration file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #4 from uuvsimulator/fix/typo_package_xml FIX Typo in package.xml
  • FIX Typo in package.xml Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #1 from uuvsimulator/feature/transfer_files ADD Initial files for licensing and vehicle model configuration
  • ADD Initial files for licensing and vehicle model configuration Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhaes, Musa Morena Marcusso Manhaes (CR/AEI), Musa Morena Marcusso Manhães

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rexrov2_gazebo

Launch files

  • launch/record_demo.launch
    • Starts the `rosbag record` node and records a set of topics for the RexROV 2.
      • record [default: false] — Starts the recording node if set to true
      • bag_filename [default: recording.bag] — Filename for the recording ROS bag
      • use_ned_frame [default: false] — If set to true, stores the odometry with respect to NED frame
      • uuv_name [default: rexrov2] — Namespace of the vehicle
  • launch/start_mb_fl_controller.launch
    • Starts the [model-based feedback linearization controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_mb_fl_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_mb_fl_controller.launch ```
      • uuv_name [default: rexrov2]
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: false]
      • Kp [default: 7750.307,7750.307,7750.307,7430.825,7430.825,7430.825]
      • Kd [default: 8953.924,8953.924,8953.924,8267.137,8267.137,8267.137]
      • Ki [default: 9144.575,9144.575,9144.575,2095.077,2095.077,2095.077]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_nmb_sm_controller.launch
    • Starts the [non-model-based sliding mode controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_nmb_sm_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `K`, `Kd`, `Ki` and `slope` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_nmb_sm_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • K [default: 5,5,5,5,5,5] — Coefficients for the $K$ diagonal matrix
      • Kd [default: 4490.0,4490.0,4490.0,19541.395,19541.395,19541.395] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 0.1,0.1,0.1,0.476,0.476,0.476] — Coefficients for the $K_i$ diagonal matrix
      • slope [default: 3.83,3.83,3.83,0.508,0.508,0.508] — Coefficients for the $\alpha$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • max_forward_speed [default: 0.5] — Maximum forward speed in m/s
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
  • launch/start_pd_grav_compensation_controller.launch
    • Starts the [PD controller with compensation of restoring forces](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pd_grav_compensation_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pd_grav_compensation_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 1000,1000,1000,1000,1000,1000] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 100,100,100,100,100,100] — Coefficients for the $K_d$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml] — File storing the vehicle model parameters loaded by the controller
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_pid_controller.launch
    • Starts the [6-DoF PID controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pid_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pid_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951] — Coefficients for the $K_i$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_sf_controller.launch
    • Starts the [singulary-tree tracking controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_sf_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_sf_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: true]
      • Kd [default: 1000.0,1000.0,1000.0,100.0,100.0,100.0]
      • lambda [default: 100.0]
      • c [default: 100.0]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_thruster_manager.launch
    • Starts the [thruster allocator node](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_thruster_manager/scripts/thruster_allocator.py) with the configuration for the RexROV 2 vehicle. The thruster allocator uses the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) to convert the [geometry_msgs/Wrench message](https://docs.ros.org/lunar/api/geometry_msgs/html/msg/Wrench.html) from the `//thruster_manager/input` topic into reference input for each thruster unit. > **Create or reset the thruster allocation matrix** In case the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) has to be created or recalculated, start the simulation as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` and then start the thruster manager with the `reset_tam` set to true. The file will be stored under the filename provided with the path under the input `tam_file` as follows ``` roslaunch rexrov2_control start_thruster_manager.launch reset_tam:=true ``` > **Example** Start the simulation, spawn the RexROV 2 vehicle and then start the thruster allocation node as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_thruster_manager.launch ``` !!! note A controller node or similar must publish the geometry_msgs/Wrench message in the `//thruster_manager/input` topic for the vehicle to move.
      • model_name [default: rexrov2] — Name of the model of the vehicle
      • uuv_name [default: $(arg model_name)] — Namespace for the vehicle instance
      • base_link [default: base_link] — Name of the base link frame
      • timeout [default: -1]
      • reset_tam [default: false]
      • output_dir [default: $(find rexrov2_control)/config]
      • config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
  • launch/start_velocity_control.launch
      • model_name [default: rexrov2]
      • uuv_name [default: $(arg model_name)]
      • joy_id [default: 0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rexrov2_control at Robotics Stack Exchange

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

rexrov2_control package from rexrov2 repo

rexrov2_control rexrov2_description rexrov2_gazebo

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 0.1.3
License Apache-2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/uuvsimulator/rexrov2.git
VCS Type git
VCS Version master
Last Updated 2020-06-15
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch and configuration files to start controllers nodes from the [`uuv_trajectory_control`](https://github.com/uuvsimulator/uuv_simulator/tree/master/uuv_control/uuv_trajectory_control) package for the RexROV 2 vehicle.

Additional Links

No additional links.

Maintainers

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat

Authors

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat
README
No README found. See repository README.
CHANGELOG

Changelog for package rexrov2_control

0.1.3 (2019-04-05)

0.1.2 (2019-03-12)

  • Update package format Signed-off-by: Musa Morena Marcusso Manhães <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhães

0.1.1 (2019-02-14)

0.1.0 (2018-07-04)

  • FIX Package version number Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #16 from uuvsimulator/fix/add_max_forward_speed ADD Max. forward speed argument to NMB SM control launch file
  • ADD Max. forward speed argument to NMB SM control launch file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #14 from uuvsimulator/feature/pd_with_compensation ADD Launch files for PD controller with compensation of restoring forces
  • ADD Launch files for PD controller with compensation of restoring forces Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #13 from uuvsimulator/fix/controller_launch_files Fix/controller launch files
  • FIX Launch files input arguments Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • ADD File with vehicle's exact parameters Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #12 from uuvsimulator/fix/mb_fl_record_path FIX Path to default ROS bag
  • FIX Path to default ROS bag Signed-off-by: Musa Morena Marcusso Manhaes (CR/AEI) <<musa.marcusso@de.bosch.com>>
  • Merge pull request #11 from uuvsimulator/fix/set_ned_frame FIX use_ned_frame was flag to NED inertial frame
  • FIX use_ned_frame was flag to NED inertial frame
  • Merge pull request #10 from uuvsimulator/feature/new_sensor_macros Feature/new sensor macros
  • FIX Model parameters vehicle ID Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #8 from uuvsimulator/feature/rviz_visualization_config CHANGE RViz demo configuration file
  • CHANGE RViz demo configuration file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #4 from uuvsimulator/fix/typo_package_xml FIX Typo in package.xml
  • FIX Typo in package.xml Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #1 from uuvsimulator/feature/transfer_files ADD Initial files for licensing and vehicle model configuration
  • ADD Initial files for licensing and vehicle model configuration Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhaes, Musa Morena Marcusso Manhaes (CR/AEI), Musa Morena Marcusso Manhães

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rexrov2_gazebo

Launch files

  • launch/record_demo.launch
    • Starts the `rosbag record` node and records a set of topics for the RexROV 2.
      • record [default: false] — Starts the recording node if set to true
      • bag_filename [default: recording.bag] — Filename for the recording ROS bag
      • use_ned_frame [default: false] — If set to true, stores the odometry with respect to NED frame
      • uuv_name [default: rexrov2] — Namespace of the vehicle
  • launch/start_mb_fl_controller.launch
    • Starts the [model-based feedback linearization controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_mb_fl_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_mb_fl_controller.launch ```
      • uuv_name [default: rexrov2]
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: false]
      • Kp [default: 7750.307,7750.307,7750.307,7430.825,7430.825,7430.825]
      • Kd [default: 8953.924,8953.924,8953.924,8267.137,8267.137,8267.137]
      • Ki [default: 9144.575,9144.575,9144.575,2095.077,2095.077,2095.077]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_nmb_sm_controller.launch
    • Starts the [non-model-based sliding mode controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_nmb_sm_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `K`, `Kd`, `Ki` and `slope` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_nmb_sm_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • K [default: 5,5,5,5,5,5] — Coefficients for the $K$ diagonal matrix
      • Kd [default: 4490.0,4490.0,4490.0,19541.395,19541.395,19541.395] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 0.1,0.1,0.1,0.476,0.476,0.476] — Coefficients for the $K_i$ diagonal matrix
      • slope [default: 3.83,3.83,3.83,0.508,0.508,0.508] — Coefficients for the $\alpha$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • max_forward_speed [default: 0.5] — Maximum forward speed in m/s
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
  • launch/start_pd_grav_compensation_controller.launch
    • Starts the [PD controller with compensation of restoring forces](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pd_grav_compensation_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pd_grav_compensation_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 1000,1000,1000,1000,1000,1000] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 100,100,100,100,100,100] — Coefficients for the $K_d$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml] — File storing the vehicle model parameters loaded by the controller
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_pid_controller.launch
    • Starts the [6-DoF PID controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pid_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pid_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951] — Coefficients for the $K_i$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_sf_controller.launch
    • Starts the [singulary-tree tracking controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_sf_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_sf_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: true]
      • Kd [default: 1000.0,1000.0,1000.0,100.0,100.0,100.0]
      • lambda [default: 100.0]
      • c [default: 100.0]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_thruster_manager.launch
    • Starts the [thruster allocator node](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_thruster_manager/scripts/thruster_allocator.py) with the configuration for the RexROV 2 vehicle. The thruster allocator uses the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) to convert the [geometry_msgs/Wrench message](https://docs.ros.org/lunar/api/geometry_msgs/html/msg/Wrench.html) from the `//thruster_manager/input` topic into reference input for each thruster unit. > **Create or reset the thruster allocation matrix** In case the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) has to be created or recalculated, start the simulation as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` and then start the thruster manager with the `reset_tam` set to true. The file will be stored under the filename provided with the path under the input `tam_file` as follows ``` roslaunch rexrov2_control start_thruster_manager.launch reset_tam:=true ``` > **Example** Start the simulation, spawn the RexROV 2 vehicle and then start the thruster allocation node as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_thruster_manager.launch ``` !!! note A controller node or similar must publish the geometry_msgs/Wrench message in the `//thruster_manager/input` topic for the vehicle to move.
      • model_name [default: rexrov2] — Name of the model of the vehicle
      • uuv_name [default: $(arg model_name)] — Namespace for the vehicle instance
      • base_link [default: base_link] — Name of the base link frame
      • timeout [default: -1]
      • reset_tam [default: false]
      • output_dir [default: $(find rexrov2_control)/config]
      • config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
  • launch/start_velocity_control.launch
      • model_name [default: rexrov2]
      • uuv_name [default: $(arg model_name)]
      • joy_id [default: 0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rexrov2_control at Robotics Stack Exchange

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

rexrov2_control package from rexrov2 repo

rexrov2_control rexrov2_description rexrov2_gazebo

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 0.1.3
License Apache-2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/uuvsimulator/rexrov2.git
VCS Type git
VCS Version master
Last Updated 2020-06-15
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch and configuration files to start controllers nodes from the [`uuv_trajectory_control`](https://github.com/uuvsimulator/uuv_simulator/tree/master/uuv_control/uuv_trajectory_control) package for the RexROV 2 vehicle.

Additional Links

No additional links.

Maintainers

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat

Authors

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat
README
No README found. See repository README.
CHANGELOG

Changelog for package rexrov2_control

0.1.3 (2019-04-05)

0.1.2 (2019-03-12)

  • Update package format Signed-off-by: Musa Morena Marcusso Manhães <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhães

0.1.1 (2019-02-14)

0.1.0 (2018-07-04)

  • FIX Package version number Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #16 from uuvsimulator/fix/add_max_forward_speed ADD Max. forward speed argument to NMB SM control launch file
  • ADD Max. forward speed argument to NMB SM control launch file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #14 from uuvsimulator/feature/pd_with_compensation ADD Launch files for PD controller with compensation of restoring forces
  • ADD Launch files for PD controller with compensation of restoring forces Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #13 from uuvsimulator/fix/controller_launch_files Fix/controller launch files
  • FIX Launch files input arguments Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • ADD File with vehicle's exact parameters Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #12 from uuvsimulator/fix/mb_fl_record_path FIX Path to default ROS bag
  • FIX Path to default ROS bag Signed-off-by: Musa Morena Marcusso Manhaes (CR/AEI) <<musa.marcusso@de.bosch.com>>
  • Merge pull request #11 from uuvsimulator/fix/set_ned_frame FIX use_ned_frame was flag to NED inertial frame
  • FIX use_ned_frame was flag to NED inertial frame
  • Merge pull request #10 from uuvsimulator/feature/new_sensor_macros Feature/new sensor macros
  • FIX Model parameters vehicle ID Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #8 from uuvsimulator/feature/rviz_visualization_config CHANGE RViz demo configuration file
  • CHANGE RViz demo configuration file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #4 from uuvsimulator/fix/typo_package_xml FIX Typo in package.xml
  • FIX Typo in package.xml Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #1 from uuvsimulator/feature/transfer_files ADD Initial files for licensing and vehicle model configuration
  • ADD Initial files for licensing and vehicle model configuration Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhaes, Musa Morena Marcusso Manhaes (CR/AEI), Musa Morena Marcusso Manhães

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rexrov2_gazebo

Launch files

  • launch/record_demo.launch
    • Starts the `rosbag record` node and records a set of topics for the RexROV 2.
      • record [default: false] — Starts the recording node if set to true
      • bag_filename [default: recording.bag] — Filename for the recording ROS bag
      • use_ned_frame [default: false] — If set to true, stores the odometry with respect to NED frame
      • uuv_name [default: rexrov2] — Namespace of the vehicle
  • launch/start_mb_fl_controller.launch
    • Starts the [model-based feedback linearization controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_mb_fl_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_mb_fl_controller.launch ```
      • uuv_name [default: rexrov2]
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: false]
      • Kp [default: 7750.307,7750.307,7750.307,7430.825,7430.825,7430.825]
      • Kd [default: 8953.924,8953.924,8953.924,8267.137,8267.137,8267.137]
      • Ki [default: 9144.575,9144.575,9144.575,2095.077,2095.077,2095.077]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_nmb_sm_controller.launch
    • Starts the [non-model-based sliding mode controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_nmb_sm_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `K`, `Kd`, `Ki` and `slope` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_nmb_sm_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • K [default: 5,5,5,5,5,5] — Coefficients for the $K$ diagonal matrix
      • Kd [default: 4490.0,4490.0,4490.0,19541.395,19541.395,19541.395] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 0.1,0.1,0.1,0.476,0.476,0.476] — Coefficients for the $K_i$ diagonal matrix
      • slope [default: 3.83,3.83,3.83,0.508,0.508,0.508] — Coefficients for the $\alpha$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • max_forward_speed [default: 0.5] — Maximum forward speed in m/s
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
  • launch/start_pd_grav_compensation_controller.launch
    • Starts the [PD controller with compensation of restoring forces](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pd_grav_compensation_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pd_grav_compensation_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 1000,1000,1000,1000,1000,1000] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 100,100,100,100,100,100] — Coefficients for the $K_d$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml] — File storing the vehicle model parameters loaded by the controller
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_pid_controller.launch
    • Starts the [6-DoF PID controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pid_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pid_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951] — Coefficients for the $K_i$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_sf_controller.launch
    • Starts the [singulary-tree tracking controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_sf_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_sf_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: true]
      • Kd [default: 1000.0,1000.0,1000.0,100.0,100.0,100.0]
      • lambda [default: 100.0]
      • c [default: 100.0]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_thruster_manager.launch
    • Starts the [thruster allocator node](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_thruster_manager/scripts/thruster_allocator.py) with the configuration for the RexROV 2 vehicle. The thruster allocator uses the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) to convert the [geometry_msgs/Wrench message](https://docs.ros.org/lunar/api/geometry_msgs/html/msg/Wrench.html) from the `//thruster_manager/input` topic into reference input for each thruster unit. > **Create or reset the thruster allocation matrix** In case the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) has to be created or recalculated, start the simulation as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` and then start the thruster manager with the `reset_tam` set to true. The file will be stored under the filename provided with the path under the input `tam_file` as follows ``` roslaunch rexrov2_control start_thruster_manager.launch reset_tam:=true ``` > **Example** Start the simulation, spawn the RexROV 2 vehicle and then start the thruster allocation node as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_thruster_manager.launch ``` !!! note A controller node or similar must publish the geometry_msgs/Wrench message in the `//thruster_manager/input` topic for the vehicle to move.
      • model_name [default: rexrov2] — Name of the model of the vehicle
      • uuv_name [default: $(arg model_name)] — Namespace for the vehicle instance
      • base_link [default: base_link] — Name of the base link frame
      • timeout [default: -1]
      • reset_tam [default: false]
      • output_dir [default: $(find rexrov2_control)/config]
      • config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
  • launch/start_velocity_control.launch
      • model_name [default: rexrov2]
      • uuv_name [default: $(arg model_name)]
      • joy_id [default: 0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rexrov2_control at Robotics Stack Exchange

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rexrov2_control package from rexrov2 repo

rexrov2_control rexrov2_description rexrov2_gazebo

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 0.1.3
License Apache-2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/uuvsimulator/rexrov2.git
VCS Type git
VCS Version master
Last Updated 2020-06-15
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch and configuration files to start controllers nodes from the [`uuv_trajectory_control`](https://github.com/uuvsimulator/uuv_simulator/tree/master/uuv_control/uuv_trajectory_control) package for the RexROV 2 vehicle.

Additional Links

No additional links.

Maintainers

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat

Authors

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat
README
No README found. See repository README.
CHANGELOG

Changelog for package rexrov2_control

0.1.3 (2019-04-05)

0.1.2 (2019-03-12)

  • Update package format Signed-off-by: Musa Morena Marcusso Manhães <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhães

0.1.1 (2019-02-14)

0.1.0 (2018-07-04)

  • FIX Package version number Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #16 from uuvsimulator/fix/add_max_forward_speed ADD Max. forward speed argument to NMB SM control launch file
  • ADD Max. forward speed argument to NMB SM control launch file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #14 from uuvsimulator/feature/pd_with_compensation ADD Launch files for PD controller with compensation of restoring forces
  • ADD Launch files for PD controller with compensation of restoring forces Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #13 from uuvsimulator/fix/controller_launch_files Fix/controller launch files
  • FIX Launch files input arguments Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • ADD File with vehicle's exact parameters Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #12 from uuvsimulator/fix/mb_fl_record_path FIX Path to default ROS bag
  • FIX Path to default ROS bag Signed-off-by: Musa Morena Marcusso Manhaes (CR/AEI) <<musa.marcusso@de.bosch.com>>
  • Merge pull request #11 from uuvsimulator/fix/set_ned_frame FIX use_ned_frame was flag to NED inertial frame
  • FIX use_ned_frame was flag to NED inertial frame
  • Merge pull request #10 from uuvsimulator/feature/new_sensor_macros Feature/new sensor macros
  • FIX Model parameters vehicle ID Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #8 from uuvsimulator/feature/rviz_visualization_config CHANGE RViz demo configuration file
  • CHANGE RViz demo configuration file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #4 from uuvsimulator/fix/typo_package_xml FIX Typo in package.xml
  • FIX Typo in package.xml Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #1 from uuvsimulator/feature/transfer_files ADD Initial files for licensing and vehicle model configuration
  • ADD Initial files for licensing and vehicle model configuration Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhaes, Musa Morena Marcusso Manhaes (CR/AEI), Musa Morena Marcusso Manhães

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rexrov2_gazebo

Launch files

  • launch/record_demo.launch
    • Starts the `rosbag record` node and records a set of topics for the RexROV 2.
      • record [default: false] — Starts the recording node if set to true
      • bag_filename [default: recording.bag] — Filename for the recording ROS bag
      • use_ned_frame [default: false] — If set to true, stores the odometry with respect to NED frame
      • uuv_name [default: rexrov2] — Namespace of the vehicle
  • launch/start_mb_fl_controller.launch
    • Starts the [model-based feedback linearization controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_mb_fl_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_mb_fl_controller.launch ```
      • uuv_name [default: rexrov2]
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: false]
      • Kp [default: 7750.307,7750.307,7750.307,7430.825,7430.825,7430.825]
      • Kd [default: 8953.924,8953.924,8953.924,8267.137,8267.137,8267.137]
      • Ki [default: 9144.575,9144.575,9144.575,2095.077,2095.077,2095.077]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_nmb_sm_controller.launch
    • Starts the [non-model-based sliding mode controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_nmb_sm_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `K`, `Kd`, `Ki` and `slope` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_nmb_sm_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • K [default: 5,5,5,5,5,5] — Coefficients for the $K$ diagonal matrix
      • Kd [default: 4490.0,4490.0,4490.0,19541.395,19541.395,19541.395] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 0.1,0.1,0.1,0.476,0.476,0.476] — Coefficients for the $K_i$ diagonal matrix
      • slope [default: 3.83,3.83,3.83,0.508,0.508,0.508] — Coefficients for the $\alpha$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • max_forward_speed [default: 0.5] — Maximum forward speed in m/s
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
  • launch/start_pd_grav_compensation_controller.launch
    • Starts the [PD controller with compensation of restoring forces](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pd_grav_compensation_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pd_grav_compensation_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 1000,1000,1000,1000,1000,1000] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 100,100,100,100,100,100] — Coefficients for the $K_d$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml] — File storing the vehicle model parameters loaded by the controller
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_pid_controller.launch
    • Starts the [6-DoF PID controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pid_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pid_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951] — Coefficients for the $K_i$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_sf_controller.launch
    • Starts the [singulary-tree tracking controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_sf_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_sf_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: true]
      • Kd [default: 1000.0,1000.0,1000.0,100.0,100.0,100.0]
      • lambda [default: 100.0]
      • c [default: 100.0]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_thruster_manager.launch
    • Starts the [thruster allocator node](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_thruster_manager/scripts/thruster_allocator.py) with the configuration for the RexROV 2 vehicle. The thruster allocator uses the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) to convert the [geometry_msgs/Wrench message](https://docs.ros.org/lunar/api/geometry_msgs/html/msg/Wrench.html) from the `//thruster_manager/input` topic into reference input for each thruster unit. > **Create or reset the thruster allocation matrix** In case the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) has to be created or recalculated, start the simulation as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` and then start the thruster manager with the `reset_tam` set to true. The file will be stored under the filename provided with the path under the input `tam_file` as follows ``` roslaunch rexrov2_control start_thruster_manager.launch reset_tam:=true ``` > **Example** Start the simulation, spawn the RexROV 2 vehicle and then start the thruster allocation node as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_thruster_manager.launch ``` !!! note A controller node or similar must publish the geometry_msgs/Wrench message in the `//thruster_manager/input` topic for the vehicle to move.
      • model_name [default: rexrov2] — Name of the model of the vehicle
      • uuv_name [default: $(arg model_name)] — Namespace for the vehicle instance
      • base_link [default: base_link] — Name of the base link frame
      • timeout [default: -1]
      • reset_tam [default: false]
      • output_dir [default: $(find rexrov2_control)/config]
      • config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
  • launch/start_velocity_control.launch
      • model_name [default: rexrov2]
      • uuv_name [default: $(arg model_name)]
      • joy_id [default: 0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rexrov2_control at Robotics Stack Exchange

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Package symbol

rexrov2_control package from rexrov2 repo

rexrov2_control rexrov2_description rexrov2_gazebo

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 0.1.3
License Apache-2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/uuvsimulator/rexrov2.git
VCS Type git
VCS Version master
Last Updated 2020-06-15
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch and configuration files to start controllers nodes from the [`uuv_trajectory_control`](https://github.com/uuvsimulator/uuv_simulator/tree/master/uuv_control/uuv_trajectory_control) package for the RexROV 2 vehicle.

Additional Links

No additional links.

Maintainers

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat

Authors

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat
README
No README found. See repository README.
CHANGELOG

Changelog for package rexrov2_control

0.1.3 (2019-04-05)

0.1.2 (2019-03-12)

  • Update package format Signed-off-by: Musa Morena Marcusso Manhães <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhães

0.1.1 (2019-02-14)

0.1.0 (2018-07-04)

  • FIX Package version number Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #16 from uuvsimulator/fix/add_max_forward_speed ADD Max. forward speed argument to NMB SM control launch file
  • ADD Max. forward speed argument to NMB SM control launch file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #14 from uuvsimulator/feature/pd_with_compensation ADD Launch files for PD controller with compensation of restoring forces
  • ADD Launch files for PD controller with compensation of restoring forces Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #13 from uuvsimulator/fix/controller_launch_files Fix/controller launch files
  • FIX Launch files input arguments Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • ADD File with vehicle's exact parameters Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #12 from uuvsimulator/fix/mb_fl_record_path FIX Path to default ROS bag
  • FIX Path to default ROS bag Signed-off-by: Musa Morena Marcusso Manhaes (CR/AEI) <<musa.marcusso@de.bosch.com>>
  • Merge pull request #11 from uuvsimulator/fix/set_ned_frame FIX use_ned_frame was flag to NED inertial frame
  • FIX use_ned_frame was flag to NED inertial frame
  • Merge pull request #10 from uuvsimulator/feature/new_sensor_macros Feature/new sensor macros
  • FIX Model parameters vehicle ID Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #8 from uuvsimulator/feature/rviz_visualization_config CHANGE RViz demo configuration file
  • CHANGE RViz demo configuration file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #4 from uuvsimulator/fix/typo_package_xml FIX Typo in package.xml
  • FIX Typo in package.xml Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #1 from uuvsimulator/feature/transfer_files ADD Initial files for licensing and vehicle model configuration
  • ADD Initial files for licensing and vehicle model configuration Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhaes, Musa Morena Marcusso Manhaes (CR/AEI), Musa Morena Marcusso Manhães

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rexrov2_gazebo

Launch files

  • launch/record_demo.launch
    • Starts the `rosbag record` node and records a set of topics for the RexROV 2.
      • record [default: false] — Starts the recording node if set to true
      • bag_filename [default: recording.bag] — Filename for the recording ROS bag
      • use_ned_frame [default: false] — If set to true, stores the odometry with respect to NED frame
      • uuv_name [default: rexrov2] — Namespace of the vehicle
  • launch/start_mb_fl_controller.launch
    • Starts the [model-based feedback linearization controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_mb_fl_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_mb_fl_controller.launch ```
      • uuv_name [default: rexrov2]
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: false]
      • Kp [default: 7750.307,7750.307,7750.307,7430.825,7430.825,7430.825]
      • Kd [default: 8953.924,8953.924,8953.924,8267.137,8267.137,8267.137]
      • Ki [default: 9144.575,9144.575,9144.575,2095.077,2095.077,2095.077]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_nmb_sm_controller.launch
    • Starts the [non-model-based sliding mode controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_nmb_sm_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `K`, `Kd`, `Ki` and `slope` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_nmb_sm_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • K [default: 5,5,5,5,5,5] — Coefficients for the $K$ diagonal matrix
      • Kd [default: 4490.0,4490.0,4490.0,19541.395,19541.395,19541.395] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 0.1,0.1,0.1,0.476,0.476,0.476] — Coefficients for the $K_i$ diagonal matrix
      • slope [default: 3.83,3.83,3.83,0.508,0.508,0.508] — Coefficients for the $\alpha$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • max_forward_speed [default: 0.5] — Maximum forward speed in m/s
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
  • launch/start_pd_grav_compensation_controller.launch
    • Starts the [PD controller with compensation of restoring forces](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pd_grav_compensation_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pd_grav_compensation_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 1000,1000,1000,1000,1000,1000] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 100,100,100,100,100,100] — Coefficients for the $K_d$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml] — File storing the vehicle model parameters loaded by the controller
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_pid_controller.launch
    • Starts the [6-DoF PID controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pid_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pid_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951] — Coefficients for the $K_i$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_sf_controller.launch
    • Starts the [singulary-tree tracking controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_sf_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_sf_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: true]
      • Kd [default: 1000.0,1000.0,1000.0,100.0,100.0,100.0]
      • lambda [default: 100.0]
      • c [default: 100.0]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_thruster_manager.launch
    • Starts the [thruster allocator node](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_thruster_manager/scripts/thruster_allocator.py) with the configuration for the RexROV 2 vehicle. The thruster allocator uses the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) to convert the [geometry_msgs/Wrench message](https://docs.ros.org/lunar/api/geometry_msgs/html/msg/Wrench.html) from the `//thruster_manager/input` topic into reference input for each thruster unit. > **Create or reset the thruster allocation matrix** In case the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) has to be created or recalculated, start the simulation as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` and then start the thruster manager with the `reset_tam` set to true. The file will be stored under the filename provided with the path under the input `tam_file` as follows ``` roslaunch rexrov2_control start_thruster_manager.launch reset_tam:=true ``` > **Example** Start the simulation, spawn the RexROV 2 vehicle and then start the thruster allocation node as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_thruster_manager.launch ``` !!! note A controller node or similar must publish the geometry_msgs/Wrench message in the `//thruster_manager/input` topic for the vehicle to move.
      • model_name [default: rexrov2] — Name of the model of the vehicle
      • uuv_name [default: $(arg model_name)] — Namespace for the vehicle instance
      • base_link [default: base_link] — Name of the base link frame
      • timeout [default: -1]
      • reset_tam [default: false]
      • output_dir [default: $(find rexrov2_control)/config]
      • config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
  • launch/start_velocity_control.launch
      • model_name [default: rexrov2]
      • uuv_name [default: $(arg model_name)]
      • joy_id [default: 0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rexrov2_control at Robotics Stack Exchange

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

rexrov2_control package from rexrov2 repo

rexrov2_control rexrov2_description rexrov2_gazebo

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 0.1.3
License Apache-2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/uuvsimulator/rexrov2.git
VCS Type git
VCS Version master
Last Updated 2020-06-15
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch and configuration files to start controllers nodes from the [`uuv_trajectory_control`](https://github.com/uuvsimulator/uuv_simulator/tree/master/uuv_control/uuv_trajectory_control) package for the RexROV 2 vehicle.

Additional Links

No additional links.

Maintainers

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat

Authors

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat
README
No README found. See repository README.
CHANGELOG

Changelog for package rexrov2_control

0.1.3 (2019-04-05)

0.1.2 (2019-03-12)

  • Update package format Signed-off-by: Musa Morena Marcusso Manhães <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhães

0.1.1 (2019-02-14)

0.1.0 (2018-07-04)

  • FIX Package version number Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #16 from uuvsimulator/fix/add_max_forward_speed ADD Max. forward speed argument to NMB SM control launch file
  • ADD Max. forward speed argument to NMB SM control launch file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #14 from uuvsimulator/feature/pd_with_compensation ADD Launch files for PD controller with compensation of restoring forces
  • ADD Launch files for PD controller with compensation of restoring forces Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #13 from uuvsimulator/fix/controller_launch_files Fix/controller launch files
  • FIX Launch files input arguments Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • ADD File with vehicle's exact parameters Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #12 from uuvsimulator/fix/mb_fl_record_path FIX Path to default ROS bag
  • FIX Path to default ROS bag Signed-off-by: Musa Morena Marcusso Manhaes (CR/AEI) <<musa.marcusso@de.bosch.com>>
  • Merge pull request #11 from uuvsimulator/fix/set_ned_frame FIX use_ned_frame was flag to NED inertial frame
  • FIX use_ned_frame was flag to NED inertial frame
  • Merge pull request #10 from uuvsimulator/feature/new_sensor_macros Feature/new sensor macros
  • FIX Model parameters vehicle ID Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #8 from uuvsimulator/feature/rviz_visualization_config CHANGE RViz demo configuration file
  • CHANGE RViz demo configuration file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #4 from uuvsimulator/fix/typo_package_xml FIX Typo in package.xml
  • FIX Typo in package.xml Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #1 from uuvsimulator/feature/transfer_files ADD Initial files for licensing and vehicle model configuration
  • ADD Initial files for licensing and vehicle model configuration Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhaes, Musa Morena Marcusso Manhaes (CR/AEI), Musa Morena Marcusso Manhães

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rexrov2_gazebo

Launch files

  • launch/record_demo.launch
    • Starts the `rosbag record` node and records a set of topics for the RexROV 2.
      • record [default: false] — Starts the recording node if set to true
      • bag_filename [default: recording.bag] — Filename for the recording ROS bag
      • use_ned_frame [default: false] — If set to true, stores the odometry with respect to NED frame
      • uuv_name [default: rexrov2] — Namespace of the vehicle
  • launch/start_mb_fl_controller.launch
    • Starts the [model-based feedback linearization controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_mb_fl_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_mb_fl_controller.launch ```
      • uuv_name [default: rexrov2]
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: false]
      • Kp [default: 7750.307,7750.307,7750.307,7430.825,7430.825,7430.825]
      • Kd [default: 8953.924,8953.924,8953.924,8267.137,8267.137,8267.137]
      • Ki [default: 9144.575,9144.575,9144.575,2095.077,2095.077,2095.077]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_nmb_sm_controller.launch
    • Starts the [non-model-based sliding mode controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_nmb_sm_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `K`, `Kd`, `Ki` and `slope` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_nmb_sm_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • K [default: 5,5,5,5,5,5] — Coefficients for the $K$ diagonal matrix
      • Kd [default: 4490.0,4490.0,4490.0,19541.395,19541.395,19541.395] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 0.1,0.1,0.1,0.476,0.476,0.476] — Coefficients for the $K_i$ diagonal matrix
      • slope [default: 3.83,3.83,3.83,0.508,0.508,0.508] — Coefficients for the $\alpha$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • max_forward_speed [default: 0.5] — Maximum forward speed in m/s
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
  • launch/start_pd_grav_compensation_controller.launch
    • Starts the [PD controller with compensation of restoring forces](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pd_grav_compensation_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pd_grav_compensation_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 1000,1000,1000,1000,1000,1000] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 100,100,100,100,100,100] — Coefficients for the $K_d$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml] — File storing the vehicle model parameters loaded by the controller
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_pid_controller.launch
    • Starts the [6-DoF PID controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pid_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pid_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951] — Coefficients for the $K_i$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_sf_controller.launch
    • Starts the [singulary-tree tracking controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_sf_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_sf_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: true]
      • Kd [default: 1000.0,1000.0,1000.0,100.0,100.0,100.0]
      • lambda [default: 100.0]
      • c [default: 100.0]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_thruster_manager.launch
    • Starts the [thruster allocator node](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_thruster_manager/scripts/thruster_allocator.py) with the configuration for the RexROV 2 vehicle. The thruster allocator uses the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) to convert the [geometry_msgs/Wrench message](https://docs.ros.org/lunar/api/geometry_msgs/html/msg/Wrench.html) from the `//thruster_manager/input` topic into reference input for each thruster unit. > **Create or reset the thruster allocation matrix** In case the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) has to be created or recalculated, start the simulation as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` and then start the thruster manager with the `reset_tam` set to true. The file will be stored under the filename provided with the path under the input `tam_file` as follows ``` roslaunch rexrov2_control start_thruster_manager.launch reset_tam:=true ``` > **Example** Start the simulation, spawn the RexROV 2 vehicle and then start the thruster allocation node as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_thruster_manager.launch ``` !!! note A controller node or similar must publish the geometry_msgs/Wrench message in the `//thruster_manager/input` topic for the vehicle to move.
      • model_name [default: rexrov2] — Name of the model of the vehicle
      • uuv_name [default: $(arg model_name)] — Namespace for the vehicle instance
      • base_link [default: base_link] — Name of the base link frame
      • timeout [default: -1]
      • reset_tam [default: false]
      • output_dir [default: $(find rexrov2_control)/config]
      • config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
  • launch/start_velocity_control.launch
      • model_name [default: rexrov2]
      • uuv_name [default: $(arg model_name)]
      • joy_id [default: 0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rexrov2_control at Robotics Stack Exchange

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rexrov2_control package from rexrov2 repo

rexrov2_control rexrov2_description rexrov2_gazebo

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 0.1.3
License Apache-2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/uuvsimulator/rexrov2.git
VCS Type git
VCS Version master
Last Updated 2020-06-15
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch and configuration files to start controllers nodes from the [`uuv_trajectory_control`](https://github.com/uuvsimulator/uuv_simulator/tree/master/uuv_control/uuv_trajectory_control) package for the RexROV 2 vehicle.

Additional Links

No additional links.

Maintainers

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat

Authors

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat
README
No README found. See repository README.
CHANGELOG

Changelog for package rexrov2_control

0.1.3 (2019-04-05)

0.1.2 (2019-03-12)

  • Update package format Signed-off-by: Musa Morena Marcusso Manhães <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhães

0.1.1 (2019-02-14)

0.1.0 (2018-07-04)

  • FIX Package version number Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #16 from uuvsimulator/fix/add_max_forward_speed ADD Max. forward speed argument to NMB SM control launch file
  • ADD Max. forward speed argument to NMB SM control launch file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #14 from uuvsimulator/feature/pd_with_compensation ADD Launch files for PD controller with compensation of restoring forces
  • ADD Launch files for PD controller with compensation of restoring forces Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #13 from uuvsimulator/fix/controller_launch_files Fix/controller launch files
  • FIX Launch files input arguments Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • ADD File with vehicle's exact parameters Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #12 from uuvsimulator/fix/mb_fl_record_path FIX Path to default ROS bag
  • FIX Path to default ROS bag Signed-off-by: Musa Morena Marcusso Manhaes (CR/AEI) <<musa.marcusso@de.bosch.com>>
  • Merge pull request #11 from uuvsimulator/fix/set_ned_frame FIX use_ned_frame was flag to NED inertial frame
  • FIX use_ned_frame was flag to NED inertial frame
  • Merge pull request #10 from uuvsimulator/feature/new_sensor_macros Feature/new sensor macros
  • FIX Model parameters vehicle ID Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #8 from uuvsimulator/feature/rviz_visualization_config CHANGE RViz demo configuration file
  • CHANGE RViz demo configuration file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #4 from uuvsimulator/fix/typo_package_xml FIX Typo in package.xml
  • FIX Typo in package.xml Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #1 from uuvsimulator/feature/transfer_files ADD Initial files for licensing and vehicle model configuration
  • ADD Initial files for licensing and vehicle model configuration Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhaes, Musa Morena Marcusso Manhaes (CR/AEI), Musa Morena Marcusso Manhães

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rexrov2_gazebo

Launch files

  • launch/record_demo.launch
    • Starts the `rosbag record` node and records a set of topics for the RexROV 2.
      • record [default: false] — Starts the recording node if set to true
      • bag_filename [default: recording.bag] — Filename for the recording ROS bag
      • use_ned_frame [default: false] — If set to true, stores the odometry with respect to NED frame
      • uuv_name [default: rexrov2] — Namespace of the vehicle
  • launch/start_mb_fl_controller.launch
    • Starts the [model-based feedback linearization controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_mb_fl_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_mb_fl_controller.launch ```
      • uuv_name [default: rexrov2]
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: false]
      • Kp [default: 7750.307,7750.307,7750.307,7430.825,7430.825,7430.825]
      • Kd [default: 8953.924,8953.924,8953.924,8267.137,8267.137,8267.137]
      • Ki [default: 9144.575,9144.575,9144.575,2095.077,2095.077,2095.077]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_nmb_sm_controller.launch
    • Starts the [non-model-based sliding mode controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_nmb_sm_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `K`, `Kd`, `Ki` and `slope` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_nmb_sm_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • K [default: 5,5,5,5,5,5] — Coefficients for the $K$ diagonal matrix
      • Kd [default: 4490.0,4490.0,4490.0,19541.395,19541.395,19541.395] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 0.1,0.1,0.1,0.476,0.476,0.476] — Coefficients for the $K_i$ diagonal matrix
      • slope [default: 3.83,3.83,3.83,0.508,0.508,0.508] — Coefficients for the $\alpha$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • max_forward_speed [default: 0.5] — Maximum forward speed in m/s
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
  • launch/start_pd_grav_compensation_controller.launch
    • Starts the [PD controller with compensation of restoring forces](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pd_grav_compensation_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pd_grav_compensation_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 1000,1000,1000,1000,1000,1000] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 100,100,100,100,100,100] — Coefficients for the $K_d$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml] — File storing the vehicle model parameters loaded by the controller
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_pid_controller.launch
    • Starts the [6-DoF PID controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pid_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pid_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951] — Coefficients for the $K_i$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_sf_controller.launch
    • Starts the [singulary-tree tracking controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_sf_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_sf_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: true]
      • Kd [default: 1000.0,1000.0,1000.0,100.0,100.0,100.0]
      • lambda [default: 100.0]
      • c [default: 100.0]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_thruster_manager.launch
    • Starts the [thruster allocator node](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_thruster_manager/scripts/thruster_allocator.py) with the configuration for the RexROV 2 vehicle. The thruster allocator uses the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) to convert the [geometry_msgs/Wrench message](https://docs.ros.org/lunar/api/geometry_msgs/html/msg/Wrench.html) from the `//thruster_manager/input` topic into reference input for each thruster unit. > **Create or reset the thruster allocation matrix** In case the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) has to be created or recalculated, start the simulation as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` and then start the thruster manager with the `reset_tam` set to true. The file will be stored under the filename provided with the path under the input `tam_file` as follows ``` roslaunch rexrov2_control start_thruster_manager.launch reset_tam:=true ``` > **Example** Start the simulation, spawn the RexROV 2 vehicle and then start the thruster allocation node as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_thruster_manager.launch ``` !!! note A controller node or similar must publish the geometry_msgs/Wrench message in the `//thruster_manager/input` topic for the vehicle to move.
      • model_name [default: rexrov2] — Name of the model of the vehicle
      • uuv_name [default: $(arg model_name)] — Namespace for the vehicle instance
      • base_link [default: base_link] — Name of the base link frame
      • timeout [default: -1]
      • reset_tam [default: false]
      • output_dir [default: $(find rexrov2_control)/config]
      • config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
  • launch/start_velocity_control.launch
      • model_name [default: rexrov2]
      • uuv_name [default: $(arg model_name)]
      • joy_id [default: 0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rexrov2_control at Robotics Stack Exchange

Package symbol

rexrov2_control package from rexrov2 repo

rexrov2_control rexrov2_description rexrov2_gazebo

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 0.1.3
License Apache-2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/uuvsimulator/rexrov2.git
VCS Type git
VCS Version master
Last Updated 2020-06-15
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch and configuration files to start controllers nodes from the [`uuv_trajectory_control`](https://github.com/uuvsimulator/uuv_simulator/tree/master/uuv_control/uuv_trajectory_control) package for the RexROV 2 vehicle.

Additional Links

No additional links.

Maintainers

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat

Authors

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat
README
No README found. See repository README.
CHANGELOG

Changelog for package rexrov2_control

0.1.3 (2019-04-05)

0.1.2 (2019-03-12)

  • Update package format Signed-off-by: Musa Morena Marcusso Manhães <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhães

0.1.1 (2019-02-14)

0.1.0 (2018-07-04)

  • FIX Package version number Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #16 from uuvsimulator/fix/add_max_forward_speed ADD Max. forward speed argument to NMB SM control launch file
  • ADD Max. forward speed argument to NMB SM control launch file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #14 from uuvsimulator/feature/pd_with_compensation ADD Launch files for PD controller with compensation of restoring forces
  • ADD Launch files for PD controller with compensation of restoring forces Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #13 from uuvsimulator/fix/controller_launch_files Fix/controller launch files
  • FIX Launch files input arguments Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • ADD File with vehicle's exact parameters Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #12 from uuvsimulator/fix/mb_fl_record_path FIX Path to default ROS bag
  • FIX Path to default ROS bag Signed-off-by: Musa Morena Marcusso Manhaes (CR/AEI) <<musa.marcusso@de.bosch.com>>
  • Merge pull request #11 from uuvsimulator/fix/set_ned_frame FIX use_ned_frame was flag to NED inertial frame
  • FIX use_ned_frame was flag to NED inertial frame
  • Merge pull request #10 from uuvsimulator/feature/new_sensor_macros Feature/new sensor macros
  • FIX Model parameters vehicle ID Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #8 from uuvsimulator/feature/rviz_visualization_config CHANGE RViz demo configuration file
  • CHANGE RViz demo configuration file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #4 from uuvsimulator/fix/typo_package_xml FIX Typo in package.xml
  • FIX Typo in package.xml Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #1 from uuvsimulator/feature/transfer_files ADD Initial files for licensing and vehicle model configuration
  • ADD Initial files for licensing and vehicle model configuration Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhaes, Musa Morena Marcusso Manhaes (CR/AEI), Musa Morena Marcusso Manhães

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rexrov2_gazebo

Launch files

  • launch/record_demo.launch
    • Starts the `rosbag record` node and records a set of topics for the RexROV 2.
      • record [default: false] — Starts the recording node if set to true
      • bag_filename [default: recording.bag] — Filename for the recording ROS bag
      • use_ned_frame [default: false] — If set to true, stores the odometry with respect to NED frame
      • uuv_name [default: rexrov2] — Namespace of the vehicle
  • launch/start_mb_fl_controller.launch
    • Starts the [model-based feedback linearization controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_mb_fl_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_mb_fl_controller.launch ```
      • uuv_name [default: rexrov2]
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: false]
      • Kp [default: 7750.307,7750.307,7750.307,7430.825,7430.825,7430.825]
      • Kd [default: 8953.924,8953.924,8953.924,8267.137,8267.137,8267.137]
      • Ki [default: 9144.575,9144.575,9144.575,2095.077,2095.077,2095.077]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_nmb_sm_controller.launch
    • Starts the [non-model-based sliding mode controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_nmb_sm_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `K`, `Kd`, `Ki` and `slope` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_nmb_sm_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • K [default: 5,5,5,5,5,5] — Coefficients for the $K$ diagonal matrix
      • Kd [default: 4490.0,4490.0,4490.0,19541.395,19541.395,19541.395] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 0.1,0.1,0.1,0.476,0.476,0.476] — Coefficients for the $K_i$ diagonal matrix
      • slope [default: 3.83,3.83,3.83,0.508,0.508,0.508] — Coefficients for the $\alpha$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • max_forward_speed [default: 0.5] — Maximum forward speed in m/s
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
  • launch/start_pd_grav_compensation_controller.launch
    • Starts the [PD controller with compensation of restoring forces](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pd_grav_compensation_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pd_grav_compensation_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 1000,1000,1000,1000,1000,1000] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 100,100,100,100,100,100] — Coefficients for the $K_d$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml] — File storing the vehicle model parameters loaded by the controller
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_pid_controller.launch
    • Starts the [6-DoF PID controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pid_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pid_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951] — Coefficients for the $K_i$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_sf_controller.launch
    • Starts the [singulary-tree tracking controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_sf_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_sf_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: true]
      • Kd [default: 1000.0,1000.0,1000.0,100.0,100.0,100.0]
      • lambda [default: 100.0]
      • c [default: 100.0]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_thruster_manager.launch
    • Starts the [thruster allocator node](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_thruster_manager/scripts/thruster_allocator.py) with the configuration for the RexROV 2 vehicle. The thruster allocator uses the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) to convert the [geometry_msgs/Wrench message](https://docs.ros.org/lunar/api/geometry_msgs/html/msg/Wrench.html) from the `//thruster_manager/input` topic into reference input for each thruster unit. > **Create or reset the thruster allocation matrix** In case the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) has to be created or recalculated, start the simulation as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` and then start the thruster manager with the `reset_tam` set to true. The file will be stored under the filename provided with the path under the input `tam_file` as follows ``` roslaunch rexrov2_control start_thruster_manager.launch reset_tam:=true ``` > **Example** Start the simulation, spawn the RexROV 2 vehicle and then start the thruster allocation node as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_thruster_manager.launch ``` !!! note A controller node or similar must publish the geometry_msgs/Wrench message in the `//thruster_manager/input` topic for the vehicle to move.
      • model_name [default: rexrov2] — Name of the model of the vehicle
      • uuv_name [default: $(arg model_name)] — Namespace for the vehicle instance
      • base_link [default: base_link] — Name of the base link frame
      • timeout [default: -1]
      • reset_tam [default: false]
      • output_dir [default: $(find rexrov2_control)/config]
      • config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
  • launch/start_velocity_control.launch
      • model_name [default: rexrov2]
      • uuv_name [default: $(arg model_name)]
      • joy_id [default: 0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rexrov2_control at Robotics Stack Exchange

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Package symbol

rexrov2_control package from rexrov2 repo

rexrov2_control rexrov2_description rexrov2_gazebo

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 0.1.3
License Apache-2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/uuvsimulator/rexrov2.git
VCS Type git
VCS Version master
Last Updated 2020-06-15
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch and configuration files to start controllers nodes from the [`uuv_trajectory_control`](https://github.com/uuvsimulator/uuv_simulator/tree/master/uuv_control/uuv_trajectory_control) package for the RexROV 2 vehicle.

Additional Links

No additional links.

Maintainers

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat

Authors

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat
README
No README found. See repository README.
CHANGELOG

Changelog for package rexrov2_control

0.1.3 (2019-04-05)

0.1.2 (2019-03-12)

  • Update package format Signed-off-by: Musa Morena Marcusso Manhães <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhães

0.1.1 (2019-02-14)

0.1.0 (2018-07-04)

  • FIX Package version number Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #16 from uuvsimulator/fix/add_max_forward_speed ADD Max. forward speed argument to NMB SM control launch file
  • ADD Max. forward speed argument to NMB SM control launch file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #14 from uuvsimulator/feature/pd_with_compensation ADD Launch files for PD controller with compensation of restoring forces
  • ADD Launch files for PD controller with compensation of restoring forces Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #13 from uuvsimulator/fix/controller_launch_files Fix/controller launch files
  • FIX Launch files input arguments Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • ADD File with vehicle's exact parameters Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #12 from uuvsimulator/fix/mb_fl_record_path FIX Path to default ROS bag
  • FIX Path to default ROS bag Signed-off-by: Musa Morena Marcusso Manhaes (CR/AEI) <<musa.marcusso@de.bosch.com>>
  • Merge pull request #11 from uuvsimulator/fix/set_ned_frame FIX use_ned_frame was flag to NED inertial frame
  • FIX use_ned_frame was flag to NED inertial frame
  • Merge pull request #10 from uuvsimulator/feature/new_sensor_macros Feature/new sensor macros
  • FIX Model parameters vehicle ID Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #8 from uuvsimulator/feature/rviz_visualization_config CHANGE RViz demo configuration file
  • CHANGE RViz demo configuration file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #4 from uuvsimulator/fix/typo_package_xml FIX Typo in package.xml
  • FIX Typo in package.xml Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #1 from uuvsimulator/feature/transfer_files ADD Initial files for licensing and vehicle model configuration
  • ADD Initial files for licensing and vehicle model configuration Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhaes, Musa Morena Marcusso Manhaes (CR/AEI), Musa Morena Marcusso Manhães

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rexrov2_gazebo

Launch files

  • launch/record_demo.launch
    • Starts the `rosbag record` node and records a set of topics for the RexROV 2.
      • record [default: false] — Starts the recording node if set to true
      • bag_filename [default: recording.bag] — Filename for the recording ROS bag
      • use_ned_frame [default: false] — If set to true, stores the odometry with respect to NED frame
      • uuv_name [default: rexrov2] — Namespace of the vehicle
  • launch/start_mb_fl_controller.launch
    • Starts the [model-based feedback linearization controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_mb_fl_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_mb_fl_controller.launch ```
      • uuv_name [default: rexrov2]
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: false]
      • Kp [default: 7750.307,7750.307,7750.307,7430.825,7430.825,7430.825]
      • Kd [default: 8953.924,8953.924,8953.924,8267.137,8267.137,8267.137]
      • Ki [default: 9144.575,9144.575,9144.575,2095.077,2095.077,2095.077]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_nmb_sm_controller.launch
    • Starts the [non-model-based sliding mode controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_nmb_sm_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `K`, `Kd`, `Ki` and `slope` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_nmb_sm_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • K [default: 5,5,5,5,5,5] — Coefficients for the $K$ diagonal matrix
      • Kd [default: 4490.0,4490.0,4490.0,19541.395,19541.395,19541.395] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 0.1,0.1,0.1,0.476,0.476,0.476] — Coefficients for the $K_i$ diagonal matrix
      • slope [default: 3.83,3.83,3.83,0.508,0.508,0.508] — Coefficients for the $\alpha$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • max_forward_speed [default: 0.5] — Maximum forward speed in m/s
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
  • launch/start_pd_grav_compensation_controller.launch
    • Starts the [PD controller with compensation of restoring forces](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pd_grav_compensation_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pd_grav_compensation_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 1000,1000,1000,1000,1000,1000] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 100,100,100,100,100,100] — Coefficients for the $K_d$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml] — File storing the vehicle model parameters loaded by the controller
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_pid_controller.launch
    • Starts the [6-DoF PID controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pid_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pid_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951] — Coefficients for the $K_i$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_sf_controller.launch
    • Starts the [singulary-tree tracking controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_sf_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_sf_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: true]
      • Kd [default: 1000.0,1000.0,1000.0,100.0,100.0,100.0]
      • lambda [default: 100.0]
      • c [default: 100.0]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_thruster_manager.launch
    • Starts the [thruster allocator node](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_thruster_manager/scripts/thruster_allocator.py) with the configuration for the RexROV 2 vehicle. The thruster allocator uses the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) to convert the [geometry_msgs/Wrench message](https://docs.ros.org/lunar/api/geometry_msgs/html/msg/Wrench.html) from the `//thruster_manager/input` topic into reference input for each thruster unit. > **Create or reset the thruster allocation matrix** In case the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) has to be created or recalculated, start the simulation as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` and then start the thruster manager with the `reset_tam` set to true. The file will be stored under the filename provided with the path under the input `tam_file` as follows ``` roslaunch rexrov2_control start_thruster_manager.launch reset_tam:=true ``` > **Example** Start the simulation, spawn the RexROV 2 vehicle and then start the thruster allocation node as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_thruster_manager.launch ``` !!! note A controller node or similar must publish the geometry_msgs/Wrench message in the `//thruster_manager/input` topic for the vehicle to move.
      • model_name [default: rexrov2] — Name of the model of the vehicle
      • uuv_name [default: $(arg model_name)] — Namespace for the vehicle instance
      • base_link [default: base_link] — Name of the base link frame
      • timeout [default: -1]
      • reset_tam [default: false]
      • output_dir [default: $(find rexrov2_control)/config]
      • config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
  • launch/start_velocity_control.launch
      • model_name [default: rexrov2]
      • uuv_name [default: $(arg model_name)]
      • joy_id [default: 0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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rexrov2_control package from rexrov2 repo

rexrov2_control rexrov2_description rexrov2_gazebo

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 0.1.3
License Apache-2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/uuvsimulator/rexrov2.git
VCS Type git
VCS Version master
Last Updated 2020-06-15
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch and configuration files to start controllers nodes from the [`uuv_trajectory_control`](https://github.com/uuvsimulator/uuv_simulator/tree/master/uuv_control/uuv_trajectory_control) package for the RexROV 2 vehicle.

Additional Links

No additional links.

Maintainers

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat

Authors

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat
README
No README found. See repository README.
CHANGELOG

Changelog for package rexrov2_control

0.1.3 (2019-04-05)

0.1.2 (2019-03-12)

  • Update package format Signed-off-by: Musa Morena Marcusso Manhães <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhães

0.1.1 (2019-02-14)

0.1.0 (2018-07-04)

  • FIX Package version number Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #16 from uuvsimulator/fix/add_max_forward_speed ADD Max. forward speed argument to NMB SM control launch file
  • ADD Max. forward speed argument to NMB SM control launch file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #14 from uuvsimulator/feature/pd_with_compensation ADD Launch files for PD controller with compensation of restoring forces
  • ADD Launch files for PD controller with compensation of restoring forces Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #13 from uuvsimulator/fix/controller_launch_files Fix/controller launch files
  • FIX Launch files input arguments Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • ADD File with vehicle's exact parameters Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #12 from uuvsimulator/fix/mb_fl_record_path FIX Path to default ROS bag
  • FIX Path to default ROS bag Signed-off-by: Musa Morena Marcusso Manhaes (CR/AEI) <<musa.marcusso@de.bosch.com>>
  • Merge pull request #11 from uuvsimulator/fix/set_ned_frame FIX use_ned_frame was flag to NED inertial frame
  • FIX use_ned_frame was flag to NED inertial frame
  • Merge pull request #10 from uuvsimulator/feature/new_sensor_macros Feature/new sensor macros
  • FIX Model parameters vehicle ID Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #8 from uuvsimulator/feature/rviz_visualization_config CHANGE RViz demo configuration file
  • CHANGE RViz demo configuration file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #4 from uuvsimulator/fix/typo_package_xml FIX Typo in package.xml
  • FIX Typo in package.xml Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #1 from uuvsimulator/feature/transfer_files ADD Initial files for licensing and vehicle model configuration
  • ADD Initial files for licensing and vehicle model configuration Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhaes, Musa Morena Marcusso Manhaes (CR/AEI), Musa Morena Marcusso Manhães

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rexrov2_gazebo

Launch files

  • launch/record_demo.launch
    • Starts the `rosbag record` node and records a set of topics for the RexROV 2.
      • record [default: false] — Starts the recording node if set to true
      • bag_filename [default: recording.bag] — Filename for the recording ROS bag
      • use_ned_frame [default: false] — If set to true, stores the odometry with respect to NED frame
      • uuv_name [default: rexrov2] — Namespace of the vehicle
  • launch/start_mb_fl_controller.launch
    • Starts the [model-based feedback linearization controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_mb_fl_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_mb_fl_controller.launch ```
      • uuv_name [default: rexrov2]
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: false]
      • Kp [default: 7750.307,7750.307,7750.307,7430.825,7430.825,7430.825]
      • Kd [default: 8953.924,8953.924,8953.924,8267.137,8267.137,8267.137]
      • Ki [default: 9144.575,9144.575,9144.575,2095.077,2095.077,2095.077]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_nmb_sm_controller.launch
    • Starts the [non-model-based sliding mode controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_nmb_sm_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `K`, `Kd`, `Ki` and `slope` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_nmb_sm_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • K [default: 5,5,5,5,5,5] — Coefficients for the $K$ diagonal matrix
      • Kd [default: 4490.0,4490.0,4490.0,19541.395,19541.395,19541.395] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 0.1,0.1,0.1,0.476,0.476,0.476] — Coefficients for the $K_i$ diagonal matrix
      • slope [default: 3.83,3.83,3.83,0.508,0.508,0.508] — Coefficients for the $\alpha$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • max_forward_speed [default: 0.5] — Maximum forward speed in m/s
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
  • launch/start_pd_grav_compensation_controller.launch
    • Starts the [PD controller with compensation of restoring forces](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pd_grav_compensation_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pd_grav_compensation_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 1000,1000,1000,1000,1000,1000] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 100,100,100,100,100,100] — Coefficients for the $K_d$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml] — File storing the vehicle model parameters loaded by the controller
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_pid_controller.launch
    • Starts the [6-DoF PID controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pid_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pid_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951] — Coefficients for the $K_i$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_sf_controller.launch
    • Starts the [singulary-tree tracking controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_sf_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_sf_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: true]
      • Kd [default: 1000.0,1000.0,1000.0,100.0,100.0,100.0]
      • lambda [default: 100.0]
      • c [default: 100.0]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_thruster_manager.launch
    • Starts the [thruster allocator node](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_thruster_manager/scripts/thruster_allocator.py) with the configuration for the RexROV 2 vehicle. The thruster allocator uses the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) to convert the [geometry_msgs/Wrench message](https://docs.ros.org/lunar/api/geometry_msgs/html/msg/Wrench.html) from the `//thruster_manager/input` topic into reference input for each thruster unit. > **Create or reset the thruster allocation matrix** In case the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) has to be created or recalculated, start the simulation as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` and then start the thruster manager with the `reset_tam` set to true. The file will be stored under the filename provided with the path under the input `tam_file` as follows ``` roslaunch rexrov2_control start_thruster_manager.launch reset_tam:=true ``` > **Example** Start the simulation, spawn the RexROV 2 vehicle and then start the thruster allocation node as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_thruster_manager.launch ``` !!! note A controller node or similar must publish the geometry_msgs/Wrench message in the `//thruster_manager/input` topic for the vehicle to move.
      • model_name [default: rexrov2] — Name of the model of the vehicle
      • uuv_name [default: $(arg model_name)] — Namespace for the vehicle instance
      • base_link [default: base_link] — Name of the base link frame
      • timeout [default: -1]
      • reset_tam [default: false]
      • output_dir [default: $(find rexrov2_control)/config]
      • config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
  • launch/start_velocity_control.launch
      • model_name [default: rexrov2]
      • uuv_name [default: $(arg model_name)]
      • joy_id [default: 0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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rexrov2_control package from rexrov2 repo

rexrov2_control rexrov2_description rexrov2_gazebo

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 0.1.3
License Apache-2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/uuvsimulator/rexrov2.git
VCS Type git
VCS Version master
Last Updated 2020-06-15
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch and configuration files to start controllers nodes from the [`uuv_trajectory_control`](https://github.com/uuvsimulator/uuv_simulator/tree/master/uuv_control/uuv_trajectory_control) package for the RexROV 2 vehicle.

Additional Links

No additional links.

Maintainers

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat

Authors

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat
README
No README found. See repository README.
CHANGELOG

Changelog for package rexrov2_control

0.1.3 (2019-04-05)

0.1.2 (2019-03-12)

  • Update package format Signed-off-by: Musa Morena Marcusso Manhães <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhães

0.1.1 (2019-02-14)

0.1.0 (2018-07-04)

  • FIX Package version number Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #16 from uuvsimulator/fix/add_max_forward_speed ADD Max. forward speed argument to NMB SM control launch file
  • ADD Max. forward speed argument to NMB SM control launch file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #14 from uuvsimulator/feature/pd_with_compensation ADD Launch files for PD controller with compensation of restoring forces
  • ADD Launch files for PD controller with compensation of restoring forces Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #13 from uuvsimulator/fix/controller_launch_files Fix/controller launch files
  • FIX Launch files input arguments Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • ADD File with vehicle's exact parameters Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #12 from uuvsimulator/fix/mb_fl_record_path FIX Path to default ROS bag
  • FIX Path to default ROS bag Signed-off-by: Musa Morena Marcusso Manhaes (CR/AEI) <<musa.marcusso@de.bosch.com>>
  • Merge pull request #11 from uuvsimulator/fix/set_ned_frame FIX use_ned_frame was flag to NED inertial frame
  • FIX use_ned_frame was flag to NED inertial frame
  • Merge pull request #10 from uuvsimulator/feature/new_sensor_macros Feature/new sensor macros
  • FIX Model parameters vehicle ID Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #8 from uuvsimulator/feature/rviz_visualization_config CHANGE RViz demo configuration file
  • CHANGE RViz demo configuration file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #4 from uuvsimulator/fix/typo_package_xml FIX Typo in package.xml
  • FIX Typo in package.xml Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #1 from uuvsimulator/feature/transfer_files ADD Initial files for licensing and vehicle model configuration
  • ADD Initial files for licensing and vehicle model configuration Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhaes, Musa Morena Marcusso Manhaes (CR/AEI), Musa Morena Marcusso Manhães

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rexrov2_gazebo

Launch files

  • launch/record_demo.launch
    • Starts the `rosbag record` node and records a set of topics for the RexROV 2.
      • record [default: false] — Starts the recording node if set to true
      • bag_filename [default: recording.bag] — Filename for the recording ROS bag
      • use_ned_frame [default: false] — If set to true, stores the odometry with respect to NED frame
      • uuv_name [default: rexrov2] — Namespace of the vehicle
  • launch/start_mb_fl_controller.launch
    • Starts the [model-based feedback linearization controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_mb_fl_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_mb_fl_controller.launch ```
      • uuv_name [default: rexrov2]
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: false]
      • Kp [default: 7750.307,7750.307,7750.307,7430.825,7430.825,7430.825]
      • Kd [default: 8953.924,8953.924,8953.924,8267.137,8267.137,8267.137]
      • Ki [default: 9144.575,9144.575,9144.575,2095.077,2095.077,2095.077]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_nmb_sm_controller.launch
    • Starts the [non-model-based sliding mode controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_nmb_sm_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `K`, `Kd`, `Ki` and `slope` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_nmb_sm_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • K [default: 5,5,5,5,5,5] — Coefficients for the $K$ diagonal matrix
      • Kd [default: 4490.0,4490.0,4490.0,19541.395,19541.395,19541.395] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 0.1,0.1,0.1,0.476,0.476,0.476] — Coefficients for the $K_i$ diagonal matrix
      • slope [default: 3.83,3.83,3.83,0.508,0.508,0.508] — Coefficients for the $\alpha$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • max_forward_speed [default: 0.5] — Maximum forward speed in m/s
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
  • launch/start_pd_grav_compensation_controller.launch
    • Starts the [PD controller with compensation of restoring forces](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pd_grav_compensation_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pd_grav_compensation_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 1000,1000,1000,1000,1000,1000] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 100,100,100,100,100,100] — Coefficients for the $K_d$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml] — File storing the vehicle model parameters loaded by the controller
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_pid_controller.launch
    • Starts the [6-DoF PID controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pid_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pid_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951] — Coefficients for the $K_i$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_sf_controller.launch
    • Starts the [singulary-tree tracking controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_sf_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_sf_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: true]
      • Kd [default: 1000.0,1000.0,1000.0,100.0,100.0,100.0]
      • lambda [default: 100.0]
      • c [default: 100.0]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_thruster_manager.launch
    • Starts the [thruster allocator node](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_thruster_manager/scripts/thruster_allocator.py) with the configuration for the RexROV 2 vehicle. The thruster allocator uses the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) to convert the [geometry_msgs/Wrench message](https://docs.ros.org/lunar/api/geometry_msgs/html/msg/Wrench.html) from the `//thruster_manager/input` topic into reference input for each thruster unit. > **Create or reset the thruster allocation matrix** In case the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) has to be created or recalculated, start the simulation as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` and then start the thruster manager with the `reset_tam` set to true. The file will be stored under the filename provided with the path under the input `tam_file` as follows ``` roslaunch rexrov2_control start_thruster_manager.launch reset_tam:=true ``` > **Example** Start the simulation, spawn the RexROV 2 vehicle and then start the thruster allocation node as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_thruster_manager.launch ``` !!! note A controller node or similar must publish the geometry_msgs/Wrench message in the `//thruster_manager/input` topic for the vehicle to move.
      • model_name [default: rexrov2] — Name of the model of the vehicle
      • uuv_name [default: $(arg model_name)] — Namespace for the vehicle instance
      • base_link [default: base_link] — Name of the base link frame
      • timeout [default: -1]
      • reset_tam [default: false]
      • output_dir [default: $(find rexrov2_control)/config]
      • config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
  • launch/start_velocity_control.launch
      • model_name [default: rexrov2]
      • uuv_name [default: $(arg model_name)]
      • joy_id [default: 0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rexrov2_control at Robotics Stack Exchange

Package symbol

rexrov2_control package from rexrov2 repo

rexrov2_control rexrov2_description rexrov2_gazebo

ROS Distro
kinetic

Package Summary

Tags No category tags.
Version 0.1.3
License Apache-2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/uuvsimulator/rexrov2.git
VCS Type git
VCS Version master
Last Updated 2020-06-15
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch and configuration files to start controllers nodes from the [`uuv_trajectory_control`](https://github.com/uuvsimulator/uuv_simulator/tree/master/uuv_control/uuv_trajectory_control) package for the RexROV 2 vehicle.

Additional Links

No additional links.

Maintainers

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat

Authors

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat
README
No README found. See repository README.
CHANGELOG

Changelog for package rexrov2_control

0.1.3 (2019-04-05)

0.1.2 (2019-03-12)

  • Update package format Signed-off-by: Musa Morena Marcusso Manhães <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhães

0.1.1 (2019-02-14)

0.1.0 (2018-07-04)

  • FIX Package version number Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #16 from uuvsimulator/fix/add_max_forward_speed ADD Max. forward speed argument to NMB SM control launch file
  • ADD Max. forward speed argument to NMB SM control launch file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #14 from uuvsimulator/feature/pd_with_compensation ADD Launch files for PD controller with compensation of restoring forces
  • ADD Launch files for PD controller with compensation of restoring forces Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #13 from uuvsimulator/fix/controller_launch_files Fix/controller launch files
  • FIX Launch files input arguments Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • ADD File with vehicle's exact parameters Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #12 from uuvsimulator/fix/mb_fl_record_path FIX Path to default ROS bag
  • FIX Path to default ROS bag Signed-off-by: Musa Morena Marcusso Manhaes (CR/AEI) <<musa.marcusso@de.bosch.com>>
  • Merge pull request #11 from uuvsimulator/fix/set_ned_frame FIX use_ned_frame was flag to NED inertial frame
  • FIX use_ned_frame was flag to NED inertial frame
  • Merge pull request #10 from uuvsimulator/feature/new_sensor_macros Feature/new sensor macros
  • FIX Model parameters vehicle ID Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #8 from uuvsimulator/feature/rviz_visualization_config CHANGE RViz demo configuration file
  • CHANGE RViz demo configuration file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #4 from uuvsimulator/fix/typo_package_xml FIX Typo in package.xml
  • FIX Typo in package.xml Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #1 from uuvsimulator/feature/transfer_files ADD Initial files for licensing and vehicle model configuration
  • ADD Initial files for licensing and vehicle model configuration Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhaes, Musa Morena Marcusso Manhaes (CR/AEI), Musa Morena Marcusso Manhães

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rexrov2_gazebo

Launch files

  • launch/record_demo.launch
    • Starts the `rosbag record` node and records a set of topics for the RexROV 2.
      • record [default: false] — Starts the recording node if set to true
      • bag_filename [default: recording.bag] — Filename for the recording ROS bag
      • use_ned_frame [default: false] — If set to true, stores the odometry with respect to NED frame
      • uuv_name [default: rexrov2] — Namespace of the vehicle
  • launch/start_mb_fl_controller.launch
    • Starts the [model-based feedback linearization controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_mb_fl_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_mb_fl_controller.launch ```
      • uuv_name [default: rexrov2]
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: false]
      • Kp [default: 7750.307,7750.307,7750.307,7430.825,7430.825,7430.825]
      • Kd [default: 8953.924,8953.924,8953.924,8267.137,8267.137,8267.137]
      • Ki [default: 9144.575,9144.575,9144.575,2095.077,2095.077,2095.077]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_nmb_sm_controller.launch
    • Starts the [non-model-based sliding mode controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_nmb_sm_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `K`, `Kd`, `Ki` and `slope` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_nmb_sm_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • K [default: 5,5,5,5,5,5] — Coefficients for the $K$ diagonal matrix
      • Kd [default: 4490.0,4490.0,4490.0,19541.395,19541.395,19541.395] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 0.1,0.1,0.1,0.476,0.476,0.476] — Coefficients for the $K_i$ diagonal matrix
      • slope [default: 3.83,3.83,3.83,0.508,0.508,0.508] — Coefficients for the $\alpha$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • max_forward_speed [default: 0.5] — Maximum forward speed in m/s
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
  • launch/start_pd_grav_compensation_controller.launch
    • Starts the [PD controller with compensation of restoring forces](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pd_grav_compensation_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pd_grav_compensation_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 1000,1000,1000,1000,1000,1000] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 100,100,100,100,100,100] — Coefficients for the $K_d$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml] — File storing the vehicle model parameters loaded by the controller
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_pid_controller.launch
    • Starts the [6-DoF PID controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pid_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pid_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951] — Coefficients for the $K_i$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_sf_controller.launch
    • Starts the [singulary-tree tracking controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_sf_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_sf_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: true]
      • Kd [default: 1000.0,1000.0,1000.0,100.0,100.0,100.0]
      • lambda [default: 100.0]
      • c [default: 100.0]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_thruster_manager.launch
    • Starts the [thruster allocator node](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_thruster_manager/scripts/thruster_allocator.py) with the configuration for the RexROV 2 vehicle. The thruster allocator uses the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) to convert the [geometry_msgs/Wrench message](https://docs.ros.org/lunar/api/geometry_msgs/html/msg/Wrench.html) from the `//thruster_manager/input` topic into reference input for each thruster unit. > **Create or reset the thruster allocation matrix** In case the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) has to be created or recalculated, start the simulation as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` and then start the thruster manager with the `reset_tam` set to true. The file will be stored under the filename provided with the path under the input `tam_file` as follows ``` roslaunch rexrov2_control start_thruster_manager.launch reset_tam:=true ``` > **Example** Start the simulation, spawn the RexROV 2 vehicle and then start the thruster allocation node as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_thruster_manager.launch ``` !!! note A controller node or similar must publish the geometry_msgs/Wrench message in the `//thruster_manager/input` topic for the vehicle to move.
      • model_name [default: rexrov2] — Name of the model of the vehicle
      • uuv_name [default: $(arg model_name)] — Namespace for the vehicle instance
      • base_link [default: base_link] — Name of the base link frame
      • timeout [default: -1]
      • reset_tam [default: false]
      • output_dir [default: $(find rexrov2_control)/config]
      • config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
  • launch/start_velocity_control.launch
      • model_name [default: rexrov2]
      • uuv_name [default: $(arg model_name)]
      • joy_id [default: 0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rexrov2_control at Robotics Stack Exchange

Package symbol

rexrov2_control package from rexrov2 repo

rexrov2_control rexrov2_description rexrov2_gazebo

ROS Distro
melodic

Package Summary

Tags No category tags.
Version 0.1.3
License Apache-2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/uuvsimulator/rexrov2.git
VCS Type git
VCS Version master
Last Updated 2020-06-15
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch and configuration files to start controllers nodes from the [`uuv_trajectory_control`](https://github.com/uuvsimulator/uuv_simulator/tree/master/uuv_control/uuv_trajectory_control) package for the RexROV 2 vehicle.

Additional Links

No additional links.

Maintainers

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat

Authors

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat
README
No README found. See repository README.
CHANGELOG

Changelog for package rexrov2_control

0.1.3 (2019-04-05)

0.1.2 (2019-03-12)

  • Update package format Signed-off-by: Musa Morena Marcusso Manhães <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhães

0.1.1 (2019-02-14)

0.1.0 (2018-07-04)

  • FIX Package version number Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #16 from uuvsimulator/fix/add_max_forward_speed ADD Max. forward speed argument to NMB SM control launch file
  • ADD Max. forward speed argument to NMB SM control launch file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #14 from uuvsimulator/feature/pd_with_compensation ADD Launch files for PD controller with compensation of restoring forces
  • ADD Launch files for PD controller with compensation of restoring forces Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #13 from uuvsimulator/fix/controller_launch_files Fix/controller launch files
  • FIX Launch files input arguments Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • ADD File with vehicle's exact parameters Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #12 from uuvsimulator/fix/mb_fl_record_path FIX Path to default ROS bag
  • FIX Path to default ROS bag Signed-off-by: Musa Morena Marcusso Manhaes (CR/AEI) <<musa.marcusso@de.bosch.com>>
  • Merge pull request #11 from uuvsimulator/fix/set_ned_frame FIX use_ned_frame was flag to NED inertial frame
  • FIX use_ned_frame was flag to NED inertial frame
  • Merge pull request #10 from uuvsimulator/feature/new_sensor_macros Feature/new sensor macros
  • FIX Model parameters vehicle ID Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #8 from uuvsimulator/feature/rviz_visualization_config CHANGE RViz demo configuration file
  • CHANGE RViz demo configuration file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #4 from uuvsimulator/fix/typo_package_xml FIX Typo in package.xml
  • FIX Typo in package.xml Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #1 from uuvsimulator/feature/transfer_files ADD Initial files for licensing and vehicle model configuration
  • ADD Initial files for licensing and vehicle model configuration Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhaes, Musa Morena Marcusso Manhaes (CR/AEI), Musa Morena Marcusso Manhães

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rexrov2_gazebo

Launch files

  • launch/record_demo.launch
    • Starts the `rosbag record` node and records a set of topics for the RexROV 2.
      • record [default: false] — Starts the recording node if set to true
      • bag_filename [default: recording.bag] — Filename for the recording ROS bag
      • use_ned_frame [default: false] — If set to true, stores the odometry with respect to NED frame
      • uuv_name [default: rexrov2] — Namespace of the vehicle
  • launch/start_mb_fl_controller.launch
    • Starts the [model-based feedback linearization controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_mb_fl_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_mb_fl_controller.launch ```
      • uuv_name [default: rexrov2]
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: false]
      • Kp [default: 7750.307,7750.307,7750.307,7430.825,7430.825,7430.825]
      • Kd [default: 8953.924,8953.924,8953.924,8267.137,8267.137,8267.137]
      • Ki [default: 9144.575,9144.575,9144.575,2095.077,2095.077,2095.077]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_nmb_sm_controller.launch
    • Starts the [non-model-based sliding mode controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_nmb_sm_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `K`, `Kd`, `Ki` and `slope` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_nmb_sm_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • K [default: 5,5,5,5,5,5] — Coefficients for the $K$ diagonal matrix
      • Kd [default: 4490.0,4490.0,4490.0,19541.395,19541.395,19541.395] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 0.1,0.1,0.1,0.476,0.476,0.476] — Coefficients for the $K_i$ diagonal matrix
      • slope [default: 3.83,3.83,3.83,0.508,0.508,0.508] — Coefficients for the $\alpha$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • max_forward_speed [default: 0.5] — Maximum forward speed in m/s
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
  • launch/start_pd_grav_compensation_controller.launch
    • Starts the [PD controller with compensation of restoring forces](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pd_grav_compensation_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pd_grav_compensation_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 1000,1000,1000,1000,1000,1000] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 100,100,100,100,100,100] — Coefficients for the $K_d$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml] — File storing the vehicle model parameters loaded by the controller
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_pid_controller.launch
    • Starts the [6-DoF PID controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pid_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pid_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951] — Coefficients for the $K_i$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_sf_controller.launch
    • Starts the [singulary-tree tracking controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_sf_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_sf_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: true]
      • Kd [default: 1000.0,1000.0,1000.0,100.0,100.0,100.0]
      • lambda [default: 100.0]
      • c [default: 100.0]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_thruster_manager.launch
    • Starts the [thruster allocator node](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_thruster_manager/scripts/thruster_allocator.py) with the configuration for the RexROV 2 vehicle. The thruster allocator uses the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) to convert the [geometry_msgs/Wrench message](https://docs.ros.org/lunar/api/geometry_msgs/html/msg/Wrench.html) from the `//thruster_manager/input` topic into reference input for each thruster unit. > **Create or reset the thruster allocation matrix** In case the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) has to be created or recalculated, start the simulation as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` and then start the thruster manager with the `reset_tam` set to true. The file will be stored under the filename provided with the path under the input `tam_file` as follows ``` roslaunch rexrov2_control start_thruster_manager.launch reset_tam:=true ``` > **Example** Start the simulation, spawn the RexROV 2 vehicle and then start the thruster allocation node as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_thruster_manager.launch ``` !!! note A controller node or similar must publish the geometry_msgs/Wrench message in the `//thruster_manager/input` topic for the vehicle to move.
      • model_name [default: rexrov2] — Name of the model of the vehicle
      • uuv_name [default: $(arg model_name)] — Namespace for the vehicle instance
      • base_link [default: base_link] — Name of the base link frame
      • timeout [default: -1]
      • reset_tam [default: false]
      • output_dir [default: $(find rexrov2_control)/config]
      • config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
  • launch/start_velocity_control.launch
      • model_name [default: rexrov2]
      • uuv_name [default: $(arg model_name)]
      • joy_id [default: 0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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rexrov2_control package from rexrov2 repo

rexrov2_control rexrov2_description rexrov2_gazebo

ROS Distro
lunar

Package Summary

Tags No category tags.
Version 0.1.3
License Apache-2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/uuvsimulator/rexrov2.git
VCS Type git
VCS Version master
Last Updated 2020-06-15
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch and configuration files to start controllers nodes from the [`uuv_trajectory_control`](https://github.com/uuvsimulator/uuv_simulator/tree/master/uuv_control/uuv_trajectory_control) package for the RexROV 2 vehicle.

Additional Links

No additional links.

Maintainers

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat

Authors

  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer
  • Luiz Ricardo Douat
README
No README found. See repository README.
CHANGELOG

Changelog for package rexrov2_control

0.1.3 (2019-04-05)

0.1.2 (2019-03-12)

  • Update package format Signed-off-by: Musa Morena Marcusso Manhães <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhães

0.1.1 (2019-02-14)

0.1.0 (2018-07-04)

  • FIX Package version number Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #16 from uuvsimulator/fix/add_max_forward_speed ADD Max. forward speed argument to NMB SM control launch file
  • ADD Max. forward speed argument to NMB SM control launch file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #14 from uuvsimulator/feature/pd_with_compensation ADD Launch files for PD controller with compensation of restoring forces
  • ADD Launch files for PD controller with compensation of restoring forces Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #13 from uuvsimulator/fix/controller_launch_files Fix/controller launch files
  • FIX Launch files input arguments Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • ADD File with vehicle's exact parameters Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #12 from uuvsimulator/fix/mb_fl_record_path FIX Path to default ROS bag
  • FIX Path to default ROS bag Signed-off-by: Musa Morena Marcusso Manhaes (CR/AEI) <<musa.marcusso@de.bosch.com>>
  • Merge pull request #11 from uuvsimulator/fix/set_ned_frame FIX use_ned_frame was flag to NED inertial frame
  • FIX use_ned_frame was flag to NED inertial frame
  • Merge pull request #10 from uuvsimulator/feature/new_sensor_macros Feature/new sensor macros
  • FIX Model parameters vehicle ID Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #8 from uuvsimulator/feature/rviz_visualization_config CHANGE RViz demo configuration file
  • CHANGE RViz demo configuration file Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #4 from uuvsimulator/fix/typo_package_xml FIX Typo in package.xml
  • FIX Typo in package.xml Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Merge pull request #1 from uuvsimulator/feature/transfer_files ADD Initial files for licensing and vehicle model configuration
  • ADD Initial files for licensing and vehicle model configuration Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
  • Contributors: Musa Morena Marcusso Manhaes, Musa Morena Marcusso Manhaes (CR/AEI), Musa Morena Marcusso Manhães

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rexrov2_gazebo

Launch files

  • launch/record_demo.launch
    • Starts the `rosbag record` node and records a set of topics for the RexROV 2.
      • record [default: false] — Starts the recording node if set to true
      • bag_filename [default: recording.bag] — Filename for the recording ROS bag
      • use_ned_frame [default: false] — If set to true, stores the odometry with respect to NED frame
      • uuv_name [default: rexrov2] — Namespace of the vehicle
  • launch/start_mb_fl_controller.launch
    • Starts the [model-based feedback linearization controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_mb_fl_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_mb_fl_controller.launch ```
      • uuv_name [default: rexrov2]
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: false]
      • Kp [default: 7750.307,7750.307,7750.307,7430.825,7430.825,7430.825]
      • Kd [default: 8953.924,8953.924,8953.924,8267.137,8267.137,8267.137]
      • Ki [default: 9144.575,9144.575,9144.575,2095.077,2095.077,2095.077]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_nmb_sm_controller.launch
    • Starts the [non-model-based sliding mode controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_nmb_sm_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `K`, `Kd`, `Ki` and `slope` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_nmb_sm_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • K [default: 5,5,5,5,5,5] — Coefficients for the $K$ diagonal matrix
      • Kd [default: 4490.0,4490.0,4490.0,19541.395,19541.395,19541.395] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 0.1,0.1,0.1,0.476,0.476,0.476] — Coefficients for the $K_i$ diagonal matrix
      • slope [default: 3.83,3.83,3.83,0.508,0.508,0.508] — Coefficients for the $\alpha$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • max_forward_speed [default: 0.5] — Maximum forward speed in m/s
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
  • launch/start_pd_grav_compensation_controller.launch
    • Starts the [PD controller with compensation of restoring forces](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pd_grav_compensation_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pd_grav_compensation_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 1000,1000,1000,1000,1000,1000] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 100,100,100,100,100,100] — Coefficients for the $K_d$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml] — File storing the vehicle model parameters loaded by the controller
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_pid_controller.launch
    • Starts the [6-DoF PID controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_pid_controller.py) node with the configurations for the RexROV 2 vehicle. The controller's default parameters `Kp`, `Kd` and `Ki` were optimized using [SMAC](https://github.com/automl/SMAC3). > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_pid_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true] — Start Gazebo client and RViz
      • use_ned_frame [default: false] — If true, the reference frame is set to be NED (North-East-Down) instead of Gazebo's default ENU (East-North-Up)
      • Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069] — Coefficients for the $K_p$ diagonal matrix
      • Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925] — Coefficients for the $K_d$ diagonal matrix
      • Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951] — Coefficients for the $K_i$ diagonal matrix
      • teleop_on [default: false] — Start joystick teleop node
      • joy_id [default: 0] — ID of the joystick device
      • axis_yaw [default: 0] — Joystick mapping for yaw angle input
      • axis_x [default: 4] — Joystick mapping for X component of velocity reference input
      • axis_y [default: 3] — Joystick mapping for Y component of velocity reference input
      • axis_z [default: 1] — Joystick mapping for Z component of velocity reference input
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config] — Output directory for the generated thruster manager
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml] — File storing the configuration of the thruster manager
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml] — File storing the thruster allocation matrix
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_sf_controller.launch
    • Starts the [singulary-tree tracking controller](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_trajectory_control/scripts/rov_sf_controller.py) node with the configurations for the RexROV 2 vehicle. > **Example** ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_sf_controller.launch ```
      • uuv_name [default: rexrov2] — Namespace of the vehicle to be controller
      • record [default: false] — Record ROS bag
      • gui_on [default: true]
      • use_ned_frame [default: true]
      • Kd [default: 1000.0,1000.0,1000.0,100.0,100.0,100.0]
      • lambda [default: 100.0]
      • c [default: 100.0]
      • teleop_on [default: false]
      • joy_id [default: 0]
      • axis_yaw [default: 0]
      • axis_x [default: 4]
      • axis_y [default: 3]
      • axis_z [default: 1]
      • model_params_file [default: $(find rexrov2_control)/config/model_params.yaml]
      • thruster_manager_output_dir [default: $(find rexrov2_control)/config]
      • thruster_manager_config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
      • gain_yaw [default: 0.2]
      • gain_x [default: 0.5]
      • gain_y [default: 0.5]
      • gain_z [default: 0.5]
  • launch/start_thruster_manager.launch
    • Starts the [thruster allocator node](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_thruster_manager/scripts/thruster_allocator.py) with the configuration for the RexROV 2 vehicle. The thruster allocator uses the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) to convert the [geometry_msgs/Wrench message](https://docs.ros.org/lunar/api/geometry_msgs/html/msg/Wrench.html) from the `//thruster_manager/input` topic into reference input for each thruster unit. > **Create or reset the thruster allocation matrix** In case the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) has to be created or recalculated, start the simulation as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` and then start the thruster manager with the `reset_tam` set to true. The file will be stored under the filename provided with the path under the input `tam_file` as follows ``` roslaunch rexrov2_control start_thruster_manager.launch reset_tam:=true ``` > **Example** Start the simulation, spawn the RexROV 2 vehicle and then start the thruster allocation node as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_thruster_manager.launch ``` !!! note A controller node or similar must publish the geometry_msgs/Wrench message in the `//thruster_manager/input` topic for the vehicle to move.
      • model_name [default: rexrov2] — Name of the model of the vehicle
      • uuv_name [default: $(arg model_name)] — Namespace for the vehicle instance
      • base_link [default: base_link] — Name of the base link frame
      • timeout [default: -1]
      • reset_tam [default: false]
      • output_dir [default: $(find rexrov2_control)/config]
      • config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
  • launch/start_velocity_control.launch
      • model_name [default: rexrov2]
      • uuv_name [default: $(arg model_name)]
      • joy_id [default: 0]

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