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|
|
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.
Dependant Packages
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.
|
|
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.
Dependant Packages
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
|
|
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.
Dependant Packages
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.