Thruster Interface AUV

This package provides an interface for controlling the thrusters of orca converting forces values to pwm values. The mapping is based on a piecewise third order polynomial approximating the datasheet .csv table found in /resources. Values send via i2c protocol.

NOTE: Possibility to extend the handling based on the current operating voltage exists, not implemented as for now.

Usage

source install/setup.bash
ros2 launch thruster_interface_auv thruster_interface_auv.launch.py

Structure

Nodes

1. thruster_interface_auv_node.cpp contains the main loop of the node

2. thruster_interface_auv_ros.cpp contains the implementation of the node dependent on ros2 creating a subscriber for thruster forces, a publisher for pwm values, and a driver for handling the mapping. Initialize everything extracting all the parameters from .yaml file found in ../auv_setup/config/robots/orca.yaml and /config/thruster_interface_auv_config.yaml.

3. thruster_interface_auv_driver.cpp contains the pure .cpp implementation for the mapping, conversion for i2c data format, and sending those values.

Topics

• subscribe to: /orca/thruster_forces [vortex_msgs/msg/ThrusterForce] – array of forces to apply to each thruster.

• publish: /orca/pwm [std_msgs/msg/Int16MultiArray] – pwm command value to apply that force.

Config

1. Edit ../auv_setup/config/robots/orca.yaml for thruster parameters like mapping, direction, pwm_min and max.
2. Edit /config/thruster_interface_auv_config.yaml for i2c bus and address, and polynomial coefficients for the mapping.

Contact

For questions or support, please contact albertomorselli00@gmail.com.