Implemented velocity controller, TAM controller, and thruster controller #6
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…ess why ros2_control node dies
evan-palmer
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Mar 14, 2024
thruster_allocation_matrix_controller/src/thruster_allocation_matrix_controller_parameters.yaml
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* Added skeleton packages for controllers * Added vcs install to devcontainers and fixed example_pkg build error * Fixed clang format andlicense * Implemented velocity controller, TAM controller, and thruster controller (#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]> * Added documentation and examples to demonstrate project use (#10) * 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]> --------- Co-authored-by: unknown <[email protected]> Co-authored-by: EverardoG <[email protected]> Co-authored-by: Rakesh Vivekanandan <[email protected]> Co-authored-by: coamitch <[email protected]> Co-authored-by: Rakesh Vivekanandan <[email protected]>
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Mar 19, 2024
…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]>
evan-palmer
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Mar 19, 2024
* Added skeleton packages for controllers * Added vcs install to devcontainers and fixed example_pkg build error * Fixed clang format andlicense * Implemented velocity controller, TAM controller, and thruster controller (#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]> * Added documentation and examples to demonstrate project use (#10) * 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]> * Updated Readme files * Added skeleton packages for controllers * Added vcs install to devcontainers and fixed example_pkg build error * Fixed clang format andlicense * Implemented velocity controller, TAM controller, and thruster controller (#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]> * Added documentation and examples to demonstrate project use (#10) * 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]> * Bump docker/build-push-action from 5.1.0 to 5.2.0 Bumps [docker/build-push-action](https://github.com/docker/build-push-action) from 5.1.0 to 5.2.0. - [Release notes](https://github.com/docker/build-push-action/releases) - [Commits](docker/build-push-action@v5.1.0...v5.2.0) --- updated-dependencies: - dependency-name: docker/build-push-action dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] <[email protected]> * Bump docker/build-push-action from 5.2.0 to 5.3.0 (#7) Bumps [docker/build-push-action](https://github.com/docker/build-push-action) from 5.2.0 to 5.3.0. - [Release notes](https://github.com/docker/build-push-action/releases) - [Commits](docker/build-push-action@v5.2.0...v5.3.0) --- updated-dependencies: - dependency-name: docker/build-push-action dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] <[email protected]> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> * Bump docker/login-action from 3.0.0 to 3.1.0 (#8) Bumps [docker/login-action](https://github.com/docker/login-action) from 3.0.0 to 3.1.0. - [Release notes](https://github.com/docker/login-action/releases) - [Commits](docker/login-action@v3.0.0...v3.1.0) --- updated-dependencies: - dependency-name: docker/login-action dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] <[email protected]> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> * Updated Readme files --------- Signed-off-by: dependabot[bot] <[email protected]> Co-authored-by: Evan Palmer <[email protected]> Co-authored-by: unknown <[email protected]> Co-authored-by: EverardoG <[email protected]> Co-authored-by: coamitch <[email protected]> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
evan-palmer
added a commit
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Mar 19, 2024
* Added skeleton packages for controllers * Added vcs install to devcontainers and fixed example_pkg build error * Fixed clang format andlicense * Implemented velocity controller, TAM controller, and thruster controller (#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]> * Added documentation and examples to demonstrate project use (#10) * 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]> * Updated Readme files * Added skeleton packages for controllers * Added vcs install to devcontainers and fixed example_pkg build error * Fixed clang format andlicense * Implemented velocity controller, TAM controller, and thruster controller (#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]> * Added documentation and examples to demonstrate project use (#10) * 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]> * Bump docker/build-push-action from 5.1.0 to 5.2.0 Bumps [docker/build-push-action](https://github.com/docker/build-push-action) from 5.1.0 to 5.2.0. - [Release notes](https://github.com/docker/build-push-action/releases) - [Commits](docker/build-push-action@v5.1.0...v5.2.0) --- updated-dependencies: - dependency-name: docker/build-push-action dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] <[email protected]> * Bump docker/build-push-action from 5.2.0 to 5.3.0 (#7) Bumps [docker/build-push-action](https://github.com/docker/build-push-action) from 5.2.0 to 5.3.0. - [Release notes](https://github.com/docker/build-push-action/releases) - [Commits](docker/build-push-action@v5.2.0...v5.3.0) --- updated-dependencies: - dependency-name: docker/build-push-action dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] <[email protected]> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> * Bump docker/login-action from 3.0.0 to 3.1.0 (#8) Bumps [docker/login-action](https://github.com/docker/login-action) from 3.0.0 to 3.1.0. - [Release notes](https://github.com/docker/login-action/releases) - [Commits](docker/login-action@v3.0.0...v3.1.0) --- updated-dependencies: - dependency-name: docker/login-action dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] <[email protected]> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> * Updated Readme files * Updated README.md --------- Signed-off-by: dependabot[bot] <[email protected]> Co-authored-by: Evan Palmer <[email protected]> Co-authored-by: unknown <[email protected]> Co-authored-by: EverardoG <[email protected]> Co-authored-by: coamitch <[email protected]> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
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Changes Made
This PR implements several chainable controllers including:
Associated Issues
Once fully integrated, this will help close this issue: Robotic-Decision-Making-Lab/blue#33
Testing
Testing was performed using examples (which will be merged in a later PR) and in simulation.