Implemented base control architecture and demonstrations #11
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…ler (#6) * Started ISMC implementation * Continued implementing ismc * Started implementation file * Added hydrodynamic parameters * Added generate_parameter_library integration * Added everything but state callback and control law * Added system state updates * Finished initial version of velocity controller * Cleanup and minor bug fixes * Added missing imports * Added dummy package for testing * Added call to update state values * thruster allocation matrix controller before testing * changes according to PR comments * Fixed pluginlib issue. Able to load both controllers but need to address why ros2_control node dies * WIP: Modified URDF * Partially works. Still need to fix TAM controller * Save point * Started fixed * Added configuration type * Rewrite of tam controller and isolated bug in velocity controller * Added author names * Cleaned up velocity controller and fixed some bugs * Fixed bug with URDF and cleaned up thruster controller * Finished thrust curve controller * Fixed linter errors * Fixed tam bug * fixing tam todos. more work needed. * Added deadband into thruster controller * renamed command interface prefix to reference controller * Updated meta package * Added auv_control_msg package and fixed the TODOs in TAM controller * Removed unnecessary deps * Cleanup a bit * Added missing dep for hydrodynamics to package configuration * Updated to use effort interfaces * Removed unused package * Initial cleanup for pr * Fixed precommit errors and attempting to fix ci workflow * i hate devops so much * take two * Trying ros industrial again * Trying again * WHY * tired * Attempting to setup the upstream workspace * fixed clang-tidy file and linter errors * you win clang tidy * Forgot to remove colcon build from devcontainer stage * Resolved pr comments --------- Co-authored-by: unknown <[email protected]> Co-authored-by: EverardoG <[email protected]> Co-authored-by: Rakesh Vivekanandan <[email protected]>
* Create README.md Added a readme for the tam controller * Update README.md * additional edits to tam README.md * fixed formatting README.md * revert code block formatting and update summary in tam README.md * Created README.md for velocity controller. * Fixed velocity controller README.md formatting * Created README.md for thrust controllers. * Update README.md * Update README.md * Update README.md * Updated main README * Cleaned up readmes * Fixed notice * More formatting changes * Fixed capitalization of chainable * Fixed formatting in velocity control readme * Added missing abbreviation declaration * Implemented examples and associated documentation (#9) * add auv_control_demos * added example for individual controller * updated package.xml * minor fix to launch file * Suggested PR changes * Made some minor grammar fixes and added copyright to launch files * Fixed lint errors in auv_control_demos top-level readme * Made some formatting improvements to the chained controller demo * Made some final small changes --------- Co-authored-by: EverardoG <[email protected]> Co-authored-by: Evan Palmer <[email protected]> --------- Co-authored-by: coamitch <[email protected]> Co-authored-by: Rakesh Vivekanandan <[email protected]> Co-authored-by: Rakesh Vivekanandan <[email protected]> Co-authored-by: EverardoG <[email protected]>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Changes Made
This PR introduces the initial core functionality for the project including packages for velocity control, TAM control, and thruster control. Two demonstrations have been added to support users as well as documentation describing the implemented system.
Associated Issues
This contributes towards the following issues:
Testing
Testing was performed using Gazebo Garden, ArduSub (via the ardusub_driver, and a simulated BlueROV2 Heavy.