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rexrov2_control package from rexrov2 repo

rexrov2_control rexrov2_description rexrov2_gazebo

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 2019-05-15
Dev Status DEVELOPED
Released RELEASED

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 Manh

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • 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_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_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_thruster_manager.launch
    • Starts the [thruster allocator node](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_thruster_manager/scripts/thruster_allocator.py) with the configuration for the RexROV 2 vehicle. The thruster allocator uses the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) to convert the [geometry_msgs/Wrench message](https://docs.ros.org/lunar/api/geometry_msgs/html/msg/Wrench.html) from the `//thruster_manager/input` topic into reference input for each thruster unit. > **Create or reset the thruster allocation matrix** In case the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) has to be created or recalculated, start the simulation as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` and then start the thruster manager with the `reset_tam` set to true. The file will be stored under the filename provided with the path under the input `tam_file` as follows ``` roslaunch rexrov2_control start_thruster_manager.launch reset_tam:=true ``` > **Example** Start the simulation, spawn the RexROV 2 vehicle and then start the thruster allocation node as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_thruster_manager.launch ``` !!! note A controller node or similar must publish the geometry_msgs/Wrench message in the `//thruster_manager/input` topic for the vehicle to move.
      • model_name [default: rexrov2] — Name of the model of the vehicle
      • uuv_name [default: $(arg model_name)] — Namespace for the vehicle instance
      • base_link [default: base_link] — Name of the base link frame
      • timeout [default: -1]
      • reset_tam [default: false]
      • output_dir [default: $(find rexrov2_control)/config]
      • config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
  • launch/start_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/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_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_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 answers.ros.org

rexrov2_control package from rexrov2 repo

rexrov2_control rexrov2_description rexrov2_gazebo

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 2019-05-15
Dev Status DEVELOPED
Released RELEASED

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 Manh

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • 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_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_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_thruster_manager.launch
    • Starts the [thruster allocator node](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_thruster_manager/scripts/thruster_allocator.py) with the configuration for the RexROV 2 vehicle. The thruster allocator uses the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) to convert the [geometry_msgs/Wrench message](https://docs.ros.org/lunar/api/geometry_msgs/html/msg/Wrench.html) from the `//thruster_manager/input` topic into reference input for each thruster unit. > **Create or reset the thruster allocation matrix** In case the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) has to be created or recalculated, start the simulation as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` and then start the thruster manager with the `reset_tam` set to true. The file will be stored under the filename provided with the path under the input `tam_file` as follows ``` roslaunch rexrov2_control start_thruster_manager.launch reset_tam:=true ``` > **Example** Start the simulation, spawn the RexROV 2 vehicle and then start the thruster allocation node as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_thruster_manager.launch ``` !!! note A controller node or similar must publish the geometry_msgs/Wrench message in the `//thruster_manager/input` topic for the vehicle to move.
      • model_name [default: rexrov2] — Name of the model of the vehicle
      • uuv_name [default: $(arg model_name)] — Namespace for the vehicle instance
      • base_link [default: base_link] — Name of the base link frame
      • timeout [default: -1]
      • reset_tam [default: false]
      • output_dir [default: $(find rexrov2_control)/config]
      • config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
  • launch/start_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/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_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_velocity_control.launch
      • model_name [default: rexrov2]
      • uuv_name [default: $(arg model_name)]
      • joy_id [default: 0]

Messages

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rexrov2_control package from rexrov2 repo

rexrov2_control rexrov2_description rexrov2_gazebo

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 2019-05-15
Dev Status DEVELOPED
Released RELEASED

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 Manh

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • 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_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_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_thruster_manager.launch
    • Starts the [thruster allocator node](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_control/uuv_thruster_manager/scripts/thruster_allocator.py) with the configuration for the RexROV 2 vehicle. The thruster allocator uses the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) to convert the [geometry_msgs/Wrench message](https://docs.ros.org/lunar/api/geometry_msgs/html/msg/Wrench.html) from the `//thruster_manager/input` topic into reference input for each thruster unit. > **Create or reset the thruster allocation matrix** In case the [thruster allocation matrix](https://github.com/uuvsimulator/rexrov2/blob/master/rexrov2_control/config/TAM.yaml) has to be created or recalculated, start the simulation as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` and then start the thruster manager with the `reset_tam` set to true. The file will be stored under the filename provided with the path under the input `tam_file` as follows ``` roslaunch rexrov2_control start_thruster_manager.launch reset_tam:=true ``` > **Example** Start the simulation, spawn the RexROV 2 vehicle and then start the thruster allocation node as follows ``` roslaunch uuv_gazebo_worlds ocean_waves.launch ``` ``` roslaunch rexrov2_description upload_rexrov2.launch ``` ``` roslaunch rexrov2_control start_thruster_manager.launch ``` !!! note A controller node or similar must publish the geometry_msgs/Wrench message in the `//thruster_manager/input` topic for the vehicle to move.
      • model_name [default: rexrov2] — Name of the model of the vehicle
      • uuv_name [default: $(arg model_name)] — Namespace for the vehicle instance
      • base_link [default: base_link] — Name of the base link frame
      • timeout [default: -1]
      • reset_tam [default: false]
      • output_dir [default: $(find rexrov2_control)/config]
      • config_file [default: $(find rexrov2_control)/config/thruster_manager.yaml]
      • tam_file [default: $(find rexrov2_control)/config/TAM.yaml]
  • launch/start_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/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_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_velocity_control.launch
      • model_name [default: rexrov2]
      • uuv_name [default: $(arg model_name)]
      • joy_id [default: 0]

Messages

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Services

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Plugins

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