• launch/auv_geometric_tracking_controller.launch
  • • uuv_name
    • use_params_file [default: false]
    • gui_on [default: true]
    • use_ned_frame [default: false]
    • max_forward_speed [default: 2]
    • dubins_radius [default: 10]
    • dubins_max_pitch [default: 0.09]
    • min_thrust [default: 70]
    • max_thrust [default: 200]
    • thruster_topic [default: thrusters/0/input]
    • thrust_p_gain [default: 1]
    • thrust_d_gain [default: 1]
    • gain_roll [default: 1]
    • gain_pitch [default: 1]
    • gain_yaw [default: 1]
    • n_fins [default: 4]
    • map_roll [default: 0,0,0,0]
    • map_pitch [default: 0,0,0,0]
    • map_yaw [default: 0,0,0,0]
    • max_fin_angle [default: 0.0]
    • fin_topic_prefix [default: fins]
    • fin_topic_suffix [default: input]
    • idle_radius [default: 10.0]
    • look_ahead_delay [default: 5.0]
    • desired_pitch_limit [default: 0.26]
    • yaw_error_limit [default: 1.0]
    • thruster_topic_prefix [default: thrusters]
    • thruster_topic_suffix [default: input]
    • thruster_frame_base [default: thruster_]
    • thruster_conversion_fcn [default: proportional]
    • thruster_gain [default: 0.0]
    • thruster_input [default: 0,1,2,3]
    • thruster_output [default: 0,1,2,3]
• launch/rov_mb_fl_controller.launch
  • • uuv_name
    • model_name [default: $(arg uuv_name)]
    • saturation [default: 1200]
    • gui_on [default: true]
    • use_params_file [default: false]
    • use_ned_frame [default: false]
    • Kp [default: 19987.218,19987.218,19987.218,19460.293,19460.293,19460.293]
    • Kd [default: 11458.051,11458.051,11458.051,17068.778,17068.778,17068.778]
    • Ki [default: 1689.976,1689.976,1689.976,186.198,186.198,186.198]
    • controller_config_file [default: $(find uuv_trajectory_control)/config/controllers/pid/$(arg model_name)/params.yaml]
    • model_params_file [default: $(find uuv_trajectory_control)/config/models/$(arg model_name)/params.yaml]
    • thruster_manager_output_dir [default: $(find uuv_thruster_manager)/config/$(arg model_name)]
    • thruster_manager_config_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/thruster_manager.yaml]
    • tam_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/TAM.yaml]
• launch/rov_mb_sm_controller.launch
  • • uuv_name
    • model_name [default: $(arg uuv_name)]
    • saturation [default: 1200]
    • gui_on [default: true]
    • use_params_file [default: false]
    • use_ned_frame [default: false]
    • lambda [default: 10,10,10,10,10,10]
    • rho_constant [default: 10000,10000,10000,10000,10000,10000]
    • k [default: 500,500,500,500,500,500]
    • c [default: 50,50,50,1,1,1]
    • adapt_slope [default: 100,10,10]
    • rho_0 [default: 3000,3000,8000,1500,1500,8000]
    • drift_prevent [default: 0.03]
    • controller_config_file [default: $(find uuv_trajectory_control)/config/controllers/mb_sm/$(arg model_name)/params.yaml]
    • model_params_file [default: $(find uuv_trajectory_control)/config/models/$(arg model_name)/params.yaml]
    • thruster_manager_output_dir [default: $(find uuv_thruster_manager)/config/$(arg model_name)]
    • thruster_manager_config_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/thruster_manager.yaml]
    • tam_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/TAM.yaml]
• launch/rov_nl_pid_controller.launch
  • • uuv_name
    • model_name
    • saturation [default: 6000]
    • gui_on [default: true]
    • use_params_file [default: false]
    • use_ned_frame [default: false]
    • Kp [default: 6017.059667616178,6017.059667616178,6017.059667616178,9731.391095849109,9731.391095849109,9731.391095849109]
    • Kd [default: 2682.9509286089447,2682.9509286089447,2682.9509286089447,9440.462338720527,9440.462338720527,9440.462338720527]
    • Ki [default: 0,0,0,0,0,0]
    • Hm [default: 1657.655912647713,1657.655912647713,1657.655912647713,4193.901741127024,4193.901741127024,4193.901741127024]
    • controller_config_file [default: $(find uuv_trajectory_control)/config/controllers/nl_pid/$(arg model_name)/params.yaml]
    • model_params_file [default: $(find uuv_trajectory_control)/config/models/$(arg model_name)/params.yaml]
    • thruster_manager_output_dir [default: $(find uuv_thruster_manager)/config/$(arg model_name)]
    • thruster_manager_config_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/thruster_manager.yaml]
    • tam_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/TAM.yaml]
• launch/rov_nmb_sm_controller.launch
  • • uuv_name
    • model_name [default: $(arg uuv_name)]
    • saturation [default: 1200]
    • gui_on [default: true]
    • use_params_file [default: false]
    • use_ned_frame [default: false]
    • max_forward_speed [default: 0.5]
    • K [default: 5,5,5,5,5,5]
    • Kd [default: 4118.98,4118.98,4118.98,8000.0,8000.0,8000.0]
    • Ki [default: 0.06144,0.06144,0.06144,0.078,0.078,0.078]
    • slope [default: 0.182,0.182,0.182,3.348,3.348,3.348]
    • controller_config_file [default: $(find uuv_trajectory_control)/config/controllers/nmb_sm/$(arg model_name)/params.yaml]
    • thruster_manager_output_dir [default: $(find uuv_thruster_manager)/config/$(arg model_name)]
    • thruster_manager_config_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/thruster_manager.yaml]
    • tam_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/TAM.yaml]
• launch/rov_pd_grav_compensation_controller.launch
  • • uuv_name
    • model_name [default: $(arg uuv_name)]
    • saturation [default: 1200]
    • gui_on [default: true]
    • use_params_file [default: false]
    • use_ned_frame [default: false]
    • Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069]
    • Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925]
    • controller_config_file [default: $(find uuv_trajectory_control)/config/controllers/pid/$(arg model_name)/params.yaml]
    • model_params_file [default: $(find uuv_trajectory_control)/config/models/$(arg model_name)/params.yaml]
    • thruster_manager_output_dir [default: $(find uuv_thruster_manager)/config/$(arg model_name)]
    • thruster_manager_config_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/thruster_manager.yaml]
    • tam_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/TAM.yaml]
• launch/rov_pid_controller.launch
  • • uuv_name
    • model_name [default: $(arg uuv_name)]
    • saturation [default: 1200]
    • gui_on [default: true]
    • use_params_file [default: false]
    • use_ned_frame [default: false]
    • Kp [default: 11993.888,11993.888,11993.888,19460.069,19460.069,19460.069]
    • Kd [default: 9077.459,9077.459,9077.459,18880.925,18880.925,18880.925]
    • Ki [default: 321.417,321.417,321.417,2096.951,2096.951,2096.951]
    • controller_config_file [default: $(find uuv_trajectory_control)/config/controllers/pid/$(arg model_name)/params.yaml]
    • thruster_manager_output_dir [default: $(find uuv_thruster_manager)/config/$(arg model_name)]
    • thruster_manager_config_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/thruster_manager.yaml]
    • tam_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/TAM.yaml]
• launch/rov_sf_controller.launch
  • • uuv_name
    • model_name [default: $(arg uuv_name)]
    • saturation [default: 5000]
    • gui_on [default: true]
    • use_params_file [default: false]
    • use_ned_frame [default: false]
    • Kd [default: 100.0,100.0,100.0,100.0,100.0,100.0]
    • lambda [default: 1.0]
    • c [default: 1.0]
    • controller_config_file [default: $(find uuv_trajectory_control)/config/controllers/pid/$(arg model_name)/params.yaml]
    • model_params_file [default: $(find uuv_trajectory_control)/config/models/$(arg model_name)/params.yaml]
    • thruster_manager_output_dir [default: $(find uuv_thruster_manager)/config/$(arg model_name)]
    • thruster_manager_config_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/thruster_manager.yaml]
    • tam_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/TAM.yaml]
• launch/rov_ua_pid_controller.launch
  • • uuv_name
    • model_name [default: $(arg uuv_name)]
    • saturation [default: 1200]
    • use_params_file [default: false]
    • gui_on [default: true]
    • Kp [default: 10.0,10.0,10.0,10.0]
    • Kd [default: 1.0,1.0,1.0,1.0]
    • Ki [default: 0.5,0.5,0.5,0.5]
    • controller_config_file [default: $(find uuv_trajectory_control)/config/controllers/ua_pid/$(arg model_name)/params.yaml]
    • thruster_manager_output_dir [default: $(find uuv_thruster_manager)/config/$(arg model_name)]
    • thruster_manager_config_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/thruster_manager.yaml]
    • tam_file [default: $(find uuv_thruster_manager)/config/$(arg model_name)/TAM.yaml]

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