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rexrov2_control package from rexrov2 reporexrov2_control rexrov2_description rexrov2_gazebo |
ROS Distro
|
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
Deps | Name |
---|---|
catkin | |
gazebo_ros | |
gazebo_ros_control | |
uuv_control_cascaded_pid | |
uuv_thruster_manager | |
uuv_trajectory_control |
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]
-
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 `/
- 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 reporexrov2_control rexrov2_description rexrov2_gazebo |
ROS Distro
|
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
Deps | Name |
---|---|
catkin | |
gazebo_ros | |
gazebo_ros_control | |
uuv_control_cascaded_pid | |
uuv_thruster_manager | |
uuv_trajectory_control |
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]
-
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 `/
- 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 reporexrov2_control rexrov2_description rexrov2_gazebo |
ROS Distro
|
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
Deps | Name |
---|---|
catkin | |
gazebo_ros | |
gazebo_ros_control | |
uuv_control_cascaded_pid | |
uuv_thruster_manager | |
uuv_trajectory_control |
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]
-
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 `/
- 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.
![]() |
rexrov2_control package from rexrov2 reporexrov2_control rexrov2_description rexrov2_gazebo |
ROS Distro
|
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
Deps | Name |
---|---|
catkin | |
gazebo_ros | |
gazebo_ros_control | |
uuv_control_cascaded_pid | |
uuv_thruster_manager | |
uuv_trajectory_control |
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]
-
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 `/
- 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.
![]() |
rexrov2_control package from rexrov2 reporexrov2_control rexrov2_description rexrov2_gazebo |
ROS Distro
|
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
Deps | Name |
---|---|
catkin | |
gazebo_ros | |
gazebo_ros_control | |
uuv_control_cascaded_pid | |
uuv_thruster_manager | |
uuv_trajectory_control |
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]
-
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 `/
- 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 reporexrov2_control rexrov2_description rexrov2_gazebo |
ROS Distro
|
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
Deps | Name |
---|---|
catkin | |
gazebo_ros | |
gazebo_ros_control | |
uuv_control_cascaded_pid | |
uuv_thruster_manager | |
uuv_trajectory_control |
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]
-
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 `/
- 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.
![]() |
rexrov2_control package from rexrov2 reporexrov2_control rexrov2_description rexrov2_gazebo |
ROS Distro
|
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
Deps | Name |
---|---|
catkin | |
gazebo_ros | |
gazebo_ros_control | |
uuv_control_cascaded_pid | |
uuv_thruster_manager | |
uuv_trajectory_control |
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]
-
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 `/
- 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.
![]() |
rexrov2_control package from rexrov2 reporexrov2_control rexrov2_description rexrov2_gazebo |
ROS Distro
|
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
Deps | Name |
---|---|
catkin | |
gazebo_ros | |
gazebo_ros_control | |
uuv_control_cascaded_pid | |
uuv_thruster_manager | |
uuv_trajectory_control |
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]
-
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 `/
- 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 reporexrov2_control rexrov2_description rexrov2_gazebo |
ROS Distro
|
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
Deps | Name |
---|---|
catkin | |
gazebo_ros | |
gazebo_ros_control | |
uuv_control_cascaded_pid | |
uuv_thruster_manager | |
uuv_trajectory_control |
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]
-
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 `/
- 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 reporexrov2_control rexrov2_description rexrov2_gazebo |
ROS Distro
|
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
Deps | Name |
---|---|
catkin | |
gazebo_ros | |
gazebo_ros_control | |
uuv_control_cascaded_pid | |
uuv_thruster_manager | |
uuv_trajectory_control |
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]
-
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 `/
- 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.
![]() |
rexrov2_control package from rexrov2 reporexrov2_control rexrov2_description rexrov2_gazebo |
ROS Distro
|
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
Deps | Name |
---|---|
catkin | |
gazebo_ros | |
gazebo_ros_control | |
uuv_control_cascaded_pid | |
uuv_thruster_manager | |
uuv_trajectory_control |
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]
-
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 `/
- 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 iron showing lunar. Known supported distros are highlighted in the buttons above.
![]() |
rexrov2_control package from rexrov2 reporexrov2_control rexrov2_description rexrov2_gazebo |
ROS Distro
|
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
Deps | Name |
---|---|
catkin | |
gazebo_ros | |
gazebo_ros_control | |
uuv_control_cascaded_pid | |
uuv_thruster_manager | |
uuv_trajectory_control |
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]
-
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 `/
- 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
![]() |
rexrov2_control package from rexrov2 reporexrov2_control rexrov2_description rexrov2_gazebo |
ROS Distro
|
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
Deps | Name |
---|---|
catkin | |
gazebo_ros | |
gazebo_ros_control | |
uuv_control_cascaded_pid | |
uuv_thruster_manager | |
uuv_trajectory_control |
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]
-
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 `/
- 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 jade showing lunar. Known supported distros are highlighted in the buttons above.
![]() |
rexrov2_control package from rexrov2 reporexrov2_control rexrov2_description rexrov2_gazebo |
ROS Distro
|
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
Deps | Name |
---|---|
catkin | |
gazebo_ros | |
gazebo_ros_control | |
uuv_control_cascaded_pid | |
uuv_thruster_manager | |
uuv_trajectory_control |
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]
-
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 `/
- 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 indigo showing lunar. Known supported distros are highlighted in the buttons above.
![]() |
rexrov2_control package from rexrov2 reporexrov2_control rexrov2_description rexrov2_gazebo |
ROS Distro
|
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
Deps | Name |
---|---|
catkin | |
gazebo_ros | |
gazebo_ros_control | |
uuv_control_cascaded_pid | |
uuv_thruster_manager | |
uuv_trajectory_control |
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]
-
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 `/
- 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 reporexrov2_control rexrov2_description rexrov2_gazebo |
ROS Distro
|
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
Deps | Name |
---|---|
catkin | |
gazebo_ros | |
gazebo_ros_control | |
uuv_control_cascaded_pid | |
uuv_thruster_manager | |
uuv_trajectory_control |
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]
-
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 `/
- 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
![]() |
rexrov2_control package from rexrov2 reporexrov2_control rexrov2_description rexrov2_gazebo |
ROS Distro
|
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
Deps | Name |
---|---|
catkin | |
gazebo_ros | |
gazebo_ros_control | |
uuv_control_cascaded_pid | |
uuv_thruster_manager | |
uuv_trajectory_control |
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]
-
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 `/
- 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
![]() |
rexrov2_control package from rexrov2 reporexrov2_control rexrov2_description rexrov2_gazebo |
ROS Distro
|
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
Deps | Name |
---|---|
catkin | |
gazebo_ros | |
gazebo_ros_control | |
uuv_control_cascaded_pid | |
uuv_thruster_manager | |
uuv_trajectory_control |
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]
-
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 `/
- 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 noetic showing lunar. Known supported distros are highlighted in the buttons above.
![]() |
rexrov2_control package from rexrov2 reporexrov2_control rexrov2_description rexrov2_gazebo |
ROS Distro
|
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
Deps | Name |
---|---|
catkin | |
gazebo_ros | |
gazebo_ros_control | |
uuv_control_cascaded_pid | |
uuv_thruster_manager | |
uuv_trajectory_control |
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]
-
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 `/
- launch/start_velocity_control.launch
-
- model_name [default: rexrov2]
- uuv_name [default: $(arg model_name)]
- joy_id [default: 0]
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