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eca_a9_control package from eca_a9 repoeca_a9_control eca_a9_description eca_a9_gazebo |
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Package Summary
| Tags | No category tags. |
| Version | 0.1.6 |
| License | Apache-2.0 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/uuvsimulator/eca_a9.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-06-16 |
| Dev Status | DEVELOPED |
| CI status |
|
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Configuration and launch files to control the ECA A9 AUV
Additional Links
No additional links.
Maintainers
- Thibault Pelletier
- Musa Morena Marcusso Manhaes
- Sebastian Scherer
- Luiz Ricardo Douat
Authors
- Thibault Pelletier
- Musa Morena Marcusso Manhaes
- Sebastian Scherer
- Luiz Ricardo Douat
README
No README found.
See repository README.
CHANGELOG
Changelog for package eca_a9_control
0.1.6 (2019-04-19)
0.1.5 (2019-03-13)
- Fix dependencies for tests and update package.xml format Signed-off-by: Musa Morena Marcusso Manhães <<Musa.Marcusso@de.bosch.com>>
- Contributors: Musa Morena Marcusso Manhães
0.1.4 (2019-02-14)
0.1.3 (2018-07-06)
- FIX Geometric tracking controller parameters Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
- Contributors: Musa Morena Marcusso Manhaes, Musa Morena Marcusso Manhães
0.1.2 (2018-07-05)
0.1.1 (2018-07-05)
- ADD CHANGELOG files Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
- Contributors: Musa Morena Marcusso Manhaes
0.1.0 (2018-04-23)
- ADD Sliding mode control files (still experimental) Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
- CHANGE Fin parameters for the control allocator Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
- ADD Model parameters for model-based controllers Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
- CHANGE RViz visualization configuration Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
- FIX Controller parameters for geo. tracking Still needs improvement, will open an issue for this. Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
- ADD Demo launch files Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
- ADD ECA A9 model description and teleop launch files Signed-off-by: Musa Morena Marcusso Manhaes <<Musa.Marcusso@de.bosch.com>>
- Contributors: Musa Morena Marcusso Manhaes
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| uuv_teleop | |
| uuv_trajectory_control |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| eca_a9_gazebo |
Launch files
- launch/start_auv_teleop.launch
-
- uuv_name [default: eca_a9]
- joy_id [default: 0]
- launch/start_geometric_tracking_control.launch
-
- uuv_name [default: eca_a9]
- gui_on [default: true]
- max_forward_speed [default: 2]
- dubins_radius [default: 10]
- min_thrust [default: 0]
- max_thrust [default: 120]
- thrust_p_gain [default: 5.0]
- thrust_d_gain [default: 0.01]
- p_roll [default: 0.2]
- p_pitch [default: 0.8]
- d_pitch [default: 0.0]
- p_yaw [default: 0.8]
- d_yaw [default: 0.0]
- n_fins [default: 4]
- max_fin_angle [default: 1.396263402]
- idle_radius [default: 30]
- look_ahead_delay [default: 0.0]
- dubins_max_pitch [default: 0.26]
- desired_pitch_limit [default: 0.26]
- yaw_error_limit [default: 1.57]
- use_ned_frame [default: false]
- stamped_pose_only [default: false]
- timeout_idle_mode [default: 5]
- thruster_topic [default: thrusters/0/input]
- thruster_topic_prefix [default: thrusters]
- thruster_topic_suffix [default: input]
- thruster_frame_base [default: thruster_]
- thruster_conversion_fcn [default: proportional]
- thruster_gain [default: 0.000049]
- fin_topic_prefix [default: fins]
- fin_topic_suffix [default: input]
- launch/start_control_allocator.launch
- launch/start_nmb_sm_control.launch
-
- uuv_name [default: eca_a9]
- gui_on [default: true]
- use_ned_frame [default: false]
- teleop_on [default: false]
- joy_id [default: 0]
- axis_yaw [default: 0]
- axis_x [default: 4]
- axis_y [default: 3]
- axis_z [default: 1]
- Kd [default: 24.328999405818507,95.16574836816616,25.943377407248825,0,6.388371356010936,79.2844976871164]
- Ki [default: 0.0010232768152540483,0.0010232768152540483,0.0010232768152540483,0,0.11901644069756079,0.11901644069756079]
- slope [default: 0.9903858668992097,0.9903858668992097,0.9903858668992097,0,0.20796465986893387,0.20796465986893387]
- look_ahead_delay [default: 2.0]
- min_thrust [default: 40]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.