ROS Index
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otter_control package from otter_ros repootter_control otter_msgs otter_ros |
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | MIT license |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/offroad-robotics/otter_ros.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-05-08 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Riley Cooper (Offroad Robotics
Ingenuity Labs) - Thomas Sears (Offroad Robotics
Ingenuity Labs)
Authors
Otter Control
Overview
Otter Control uses OtterROS for autonomous control research.
Launch files
This folder contains launch files for the otter_control package.
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otter_launch_nmpc: launches publisher and subscriber for the Otter and an NMPC controller node developed by Riley Cooper.
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wpt_file: path to waypoint file. Defaults to None.
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otter_heading_control_launch: launches publisher and subscriber for the Otter and the controller node.
Nodes
nmpc_controller
This is a node that implements a nonlinear model predictive controller (NMPC) for the Otter USV. The nonlinear model of the Otter is based on Handbook of Marine Craft Hydrodynamics and Motion Control (Thor I. Fossen)and the accompanying MATLAB/Python code.
Subscribed Topics
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/otter_gps(sensor_msgs/NavSatFix): GPS position of the Otter USV. Includes latitude, longitude, and altitude. -
/otter_imu(sensor_msgs/Imu): orientation information of the Otter USV including roll, pitch, yaw, p, q, and r. The rates of change of roll, pitch, and yaw are p, q, and r respectively. -
/otter_cogsog(otter_msgs/COGSOG): Course over ground, speed over ground, and resultant twist x, y vector
Published Topics
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/control_commands(geometry_msgs/WrenchStamped): force and torque of Otter motors. Only populated parameters should be “force.x” and “torque.z”. -
/controller_errors(otter_msgs/ControllerErrors): This message contains lateral, heading and speed error values collected from the controllers and the closest waypoint to the USV.