• launch/apply_body_wrench.launch
  • • uuv_name
    • force_x [default: 0]
    • force_y [default: 0]
    • force_z [default: 0]
    • torque_x [default: 0]
    • torque_y [default: 0]
    • torque_z [default: 0]
    • starting_time [default: 0]
    • duration [default: 1]
• launch/send_waypoints_file.launch
  • • uuv_name
    • filename [default: $(find uuv_control_utils)/config/example_waypoints.yaml]
    • start_time [default: -1]
    • interpolator [default: lipb]
• launch/set_gm_current_perturbation.launch
  • • component
    • mean [default: 0.0]
    • min [default: 0.0]
    • max [default: 0.0]
    • noise [default: 0.0]
    • mu [default: 0.0]
• launch/set_scalar_parameter.launch
  • • uuv_name
    • service_name
    • data
• launch/set_thruster_output_efficiency.launch
  • • uuv_name
    • starting_time [default: 0.0]
    • thruster_id [default: 0]
    • efficiency [default: 1.0]
    • duration [default: -1]
• launch/set_thruster_state.launch
  • • uuv_name
    • starting_time [default: 0.0]
    • thruster_id [default: 0]
    • is_on [default: 0]
    • duration [default: -1]
• launch/set_timed_current_perturbation.launch
  • • starting_time [default: 0.0]
    • end_time [default: -1]
    • current_vel [default: 1]
    • horizontal_angle [default: 0.0]
    • vertical_angle [default: 0.0]
• launch/start_circular_trajectory.launch
  • • uuv_name
    • start_time [default: -1]
    • radius [default: 8]
    • center_x [default: 4]
    • center_y [default: 2]
    • center_z [default: -22]
    • n_points [default: 50]
    • heading_offset [default: 0]
    • duration [default: 0]
    • max_forward_speed [default: 0.3]
• launch/start_disturbance_manager.launch
  • • uuv_name
    • use_file [default: false]
    • disturbance_file
    • current_starting_time [default: 20.0]
    • current_vel [default: 1]
    • current_horz_angle [default: 0.0]
    • current_vert_angle [default: 0.0]
    • current_duration [default: 10]
    • force_x [default: 0]
    • force_y [default: 2000]
    • force_z [default: 0]
    • torque_x [default: 0]
    • torque_y [default: 0]
    • torque_z [default: 0]
    • wrench_starting_time [default: 30]
    • wrench_duration [default: 20]
• launch/start_helical_trajectory.launch
  • • uuv_name
    • start_time [default: -1]
    • radius [default: 8]
    • center_x [default: 0]
    • center_y [default: 0]
    • center_z [default: -30]
    • n_points [default: 50]
    • n_turns [default: 1]
    • delta_z [default: 5.0]
    • heading_offset [default: 0]
    • duration [default: 150]
    • max_forward_speed [default: 0.3]

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