• launch/start_control_allocator.launch
  • • uuv_name
    • base_link [default: base_link]
    • output_dir
    • input_topic [default: control_allocation/control_input]
    • thruster_topic_prefix [default: thrusters]
    • thruster_topic_suffix [default: input]
    • thruster_frame_base [default: thruster_]
    • max_thrust [default: 120]
    • thruster_conversion_fcn [default: proportional]
    • thruster_gain [default: 0.0]
    • thruster_input [default: 0,1,2,3]
    • thruster_output [default: 0,1,2,3]
    • fin_frame_base [default: fin]
    • fluid_density [default: 1028.0]
    • lift_coefficient [default: 0.0]
    • fin_area [default: 0.0]
    • fin_topic_prefix [default: fins]
    • fin_topic_suffix [default: input]
    • fin_lower_joint_limit [default: -1.57]
    • fin_upper_joint_limit [default: 1.57]
    • timeout [default: -1]
    • update_rate [default: 10]

• msg/AUVCommand.msg

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