Bugs in Control Allocator and Fin plugins

[MaxxWilson]

Hello,

Thank you for your great work with this project!

My team works with a UUV with fins and discovered a number of small errors and issues in the Control Allocator, Actuator Manager, FinModel, FinPlugin, and FinROSPlugin. Using the Thruster modules as a reference, we fixed these issues and have the Fin modules working for our vehicle now.

I am waiting for approval from my supervisor to be able to release our work and to contribute it back to your repository. This should happen before the end of the summer at the latest. For now, this issue can be assigned to me if it is not already a work in progress. Let me know if there is anything else I should do or that I should know before contributing.

Thanks,
Maxx Wilson

[JFMatch]

Hello Maxx,

I am trying to implement a fin controlled UUV in Plankton and I am running into some bugs. Are you able to share your fixes?

Thanks,
J

[MaxxWilson]

Hello Maxx,

I am trying to implement a fin controlled UUV in Plankton and I am running into some bugs. Are you able to share your fixes?

Thanks,
J

Hello,
I will start work on moving the changes to a public fork and submitting a pull request tomorrow. Should be available by the end of the week.

[MaxxWilson]

Hello @JFMatch,

I apologize for the lack of activity. I had unanticipated work issues arise and problems I had to resolve with my graduate course registration.

I am aware of this and working on it right now. I've just submitted a PR that fixes issues I had for creating a new vehicle. Now, I am working on the changes we made to get finned vehicles operational. Should hopefully be out very soon.

Thanks for your patience.

[JFMatch]

Hello @MaxxWilson

Thanks allot for update. If your based in US and have experience with ROS and UUV simulator and are looking for work or otherwise open to new job opportunities I would love to talk to you.

I myself am working on modifying the thruster driver for a steerable thruster.

Hello @JFMatch,

I apologize for the lack of activity. I had unanticipated work issues arise and problems I had to resolve with my graduate course registration.

I am aware of this and working on it right now. I've just submitted a PR that fixes issues I had for creating a new vehicle. Now, I am working on the changes we made to get finned vehicles operational. Should hopefully be out very soon.

Thanks for your patience.

[MaxxWilson]

This is a work in progress over on my fork.

I still need to fix the fin configuration template at uuv_assistants/templates/robot_model/urdf/snippets.xacro.template.

Major typos and bugs should be fixed. Due to our lab proxy, I cannot directly link our internal mirror to the public fork. This necessitated manually fixing the issues on public fork, and so I still need to test and ensure everything is working properly.

Will continue testing and moving changes over in the next few days.

[MaxxWilson]

@JFMatch
PR #41 should fix the issues we found and bring the finned vehicle modules to a working configuration. Let me know if you find any issues and we can address them.

The main modules (Control Allocator, Actuator Manager, Fin Model, FinROSPlugin, Fin Plugin) should all be in working order. I added launch and config files that should be useful as a reference with UUV AUV Control Allocator. They could also potentially be used for a vehicle directly, with specific parameters passed as CLI args. May need some tweaks for that.

I've only just begun my M.S., so I am not currently focused on job hunting. Hopefully we will continue developing this project and can build off each other's work. I am always open to working with passionate developers!

Hello @MaxxWilson

Thanks allot for update. If your based in US and have experience with ROS and UUV simulator and are looking for work or otherwise open to new job opportunities I would love to talk to you.

I myself am working on modifying the thruster driver for a steerable thruster.

Hello @JFMatch,
I apologize for the lack of activity. I had unanticipated work issues arise and problems I had to resolve with my graduate course registration.
I am aware of this and working on it right now. I've just submitted a PR that fixes issues I had for creating a new vehicle. Now, I am working on the changes we made to get finned vehicles operational. Should hopefully be out very soon.
Thanks for your patience.