• 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_velocity_control.launch
  • • model_name [default: rexrov2]
    • uuv_name [default: $(arg model_name)]
    • joy_id [default: 0]
• 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_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_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/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_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]

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