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Package Summary
Tags | No category tags. |
Version | 0.0.0 |
License | MIT |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/vortexntnu/vortex-auv.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-04-04 |
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
Reference model for the DP controller
Additional Links
No additional links.
Maintainers
- andeshog
Authors
No additional authors.
Reference filter
The reference filter (or reference model) is of third order and provides reference for pose, velocity and acceleration. So that $x_d := [\eta_d^\top, \dot{\eta}_d^\top, \ddot{\eta}_d^\top] \in \mathbb{R}^{3n}$.
The state-space representation is, according to (Fossen, 2021),
\dot{x}_d = A_d x_d + B_d r
where
A_d = \begin{bmatrix}
0_{n\times n} & I_n & 0_{n\times n} \\
0_{n\times n} & 0_{n \times n} & I_n \\
-\Omega^3 & -(2 \Delta + I_n) \Omega^2 & -(2 \Delta + I_n) \Omega
\end{bmatrix}
and
B_d = \begin{bmatrix}
0_{n \times n} \\
0_{n \times n} \\
\Omega^3
\end{bmatrix}.
The steady-state pose for a constant reference signal $r$ is
\lim_{t \to \infty} \eta_d = r
The state at the next time step is calculated using forward Euler integration
x_{i+1} = x_i + \dot{x}_i * dt
Action Server
The action server is responsible for handling goal requests and publishing guidance commands. The server will always prioritize new goal request, and will abort ongoing request when getting a new request. The action definition can be found here.
- Action name: /reference_filter
- Goal type: PoseStamped
- Result type: bool
- Guidance topic: /dp/reference
CHANGELOG
No CHANGELOG found.
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 |
---|---|
ament_cmake | |
rclcpp | |
rclcpp_action | |
geometry_msgs | |
vortex_msgs | |
nav_msgs | |
tf2 | |
tf2_geometry_msgs |
System Dependencies
Name |
---|
eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged reference_filter_dp at Robotics Stack Exchange
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