triton_pid_controller

Description

This is a PID Controller for controlling thruster output forces based on the error between current pose and target pose.

Usage

To launch the triton_pid_controller node, use the following command

ros2 launch triton_pid_controller triton_pid_controller_launch.py

You can change the P-, I-, and D-values in config/pid_X.yaml, where X is either x, y, z, or yaw. You can also change the pid_files.yaml file in the same directory to use other config files.

Nodes

• triton_pid_controller : A simple PID controller for the movement of the AUV in x, y, z, and yaw.

  ### Subscribed Topics

  • controls/input_pose (geometry_msgs/Pose) : Error to target pose. For navigation. ### Published Topics
  • controls/output_forces (std_msgs/msg/Float64MultiArray.msg) : Forces corresponding to each thruster
  • controls/signals (std_msgs/msg/Float64MultiArray.msg): PWM signals corresponding to each thruster ### Parameters
  • pid_files.yaml:
    • pid_force_X_file (string): The PID values for X, which is in [x, y, z, yaw]
  • pid_X.yaml:
    • Kp (float32): The P of PID
    • Ki (float32): The I of PID
    • Kd (float32): The D of PID