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uuv_trajectory_control package from uuv_simulator repo

uuv_assistants uuv_auv_control_allocator uuv_control_cascaded_pid uuv_control_msgs uuv_control_utils uuv_thruster_manager uuv_trajectory_control uuv_descriptions uuv_gazebo uuv_gazebo_plugins uuv_gazebo_ros_plugins uuv_gazebo_ros_plugins_msgs uuv_gazebo_worlds uuv_sensor_ros_plugins uuv_sensor_ros_plugins_msgs uuv_simulator uuv_teleop uuv_tutorial_disturbances uuv_tutorial_dp_controller uuv_tutorial_seabed_world uuv_tutorials uuv_world_plugins uuv_world_ros_plugins uuv_world_ros_plugins_msgs

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.6.13
License Apache-2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/uuvsimulator/uuv_simulator.git
VCS Type git
VCS Version master
Last Updated 2020-06-15
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The uuv_trajectory_control package

Additional Links

No additional links.

Maintainers

  • Luiz Ricardo Douat
  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

Changelog for package uuv_trajectory_control

0.6.13 (2019-08-12)

  • Fix PID controller node shebang Signed-off-by: Musa Morena Marcusso Manh

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • 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_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]
  • 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_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_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_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/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_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_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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged uuv_trajectory_control at answers.ros.org

No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.

uuv_trajectory_control package from uuv_simulator repo

uuv_assistants uuv_auv_control_allocator uuv_control_cascaded_pid uuv_control_msgs uuv_control_utils uuv_thruster_manager uuv_trajectory_control uuv_descriptions uuv_gazebo uuv_gazebo_plugins uuv_gazebo_ros_plugins uuv_gazebo_ros_plugins_msgs uuv_gazebo_worlds uuv_sensor_ros_plugins uuv_sensor_ros_plugins_msgs uuv_simulator uuv_teleop uuv_tutorial_disturbances uuv_tutorial_dp_controller uuv_tutorial_seabed_world uuv_tutorials uuv_world_plugins uuv_world_ros_plugins uuv_world_ros_plugins_msgs

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.6.13
License Apache-2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/uuvsimulator/uuv_simulator.git
VCS Type git
VCS Version master
Last Updated 2020-06-15
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The uuv_trajectory_control package

Additional Links

No additional links.

Maintainers

  • Luiz Ricardo Douat
  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

Changelog for package uuv_trajectory_control

0.6.13 (2019-08-12)

  • Fix PID controller node shebang Signed-off-by: Musa Morena Marcusso Manh

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • 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_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]
  • 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_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_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_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/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_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_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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged uuv_trajectory_control at answers.ros.org

uuv_trajectory_control package from uuv_simulator repo

uuv_assistants uuv_auv_control_allocator uuv_control_cascaded_pid uuv_control_msgs uuv_control_utils uuv_thruster_manager uuv_trajectory_control uuv_descriptions uuv_gazebo uuv_gazebo_plugins uuv_gazebo_ros_plugins uuv_gazebo_ros_plugins_msgs uuv_gazebo_worlds uuv_sensor_ros_plugins uuv_sensor_ros_plugins_msgs uuv_simulator uuv_teleop uuv_tutorial_disturbances uuv_tutorial_dp_controller uuv_tutorial_seabed_world uuv_tutorials uuv_world_plugins uuv_world_ros_plugins uuv_world_ros_plugins_msgs

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.6.13
License Apache-2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/uuvsimulator/uuv_simulator.git
VCS Type git
VCS Version master
Last Updated 2020-06-15
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The uuv_trajectory_control package

Additional Links

No additional links.

Maintainers

  • Luiz Ricardo Douat
  • Musa Morena Marcusso Manhaes
  • Sebastian Scherer

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

Changelog for package uuv_trajectory_control

0.6.13 (2019-08-12)

  • Fix PID controller node shebang Signed-off-by: Musa Morena Marcusso Manh

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • 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_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]
  • 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_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_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_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/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_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_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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged uuv_trajectory_control at answers.ros.org