triton_teleop

Description

This package is for teleoperation (i.e manual control) of the AUV.

Usage

To launch the keyboard teleoperation simulation of the AUV, use the following command

ros2 launch triton_bringup teleop_sim_bringup_launch.py

This will open up Gazebo and allow you to control the AUV with a keyboard, below are the key controls

W/S : Forwards/Backwards (X-Axis)
A/D : Left/Right (Y-Axis)
Q/Z : Up/Down (Z-Axis) Up/Down (Z-Axis)
←/→ : Rotate Left/Rotate Right (Around Z-Axis)
↑/↓ : Rotate Left/Rotate Right (Around X-Axis)

Another control scheme

To launch the publisher for controlling the Teensy

ros2 run triton_teleop key_publisher

It publishes to the /motor_control topic that the Teensy listens to. Key controls:
R/F : Increment/Decrement power level of TL
T/G : Increment/Decrement power level of BL
Y/H : Increment/Decrement power level of M
U/J : Increment/Decrement power level of BR I/K : Increment/Decrement power level of TR
W/S : Increment/Decrement power level of BL and BR S/D : Increment/Decrement power level of M C/X : Increment/Decrement power level of TL and TR Q/E : (Increment/Decrement)/(Decrement/Increment) power level of BR and BL

where ‘T/B/M’ stand for ‘Top’, ‘Bottom’, and ‘Middle’, and ‘L/R’ stand for ‘Left’ and ‘Right’. Bottom thrusters are front-facing, while top thrusters are sky-facing. Middle thruster is pointed sideways.

Nodes

• keyboard_teleop : A standalone node which listens on keyboard events and publishes forces corresponding to these events ### Published Topics
  • /triton/controls/input_forces (geometry_msgs/msg/Wrench.msg) : The wrench message which acts upon the body of the AUV

• sim_thrust_mapper : A standalone node which takes in input from the thrust allocator and multiplexes it to the gazebo driver topic for each simulated thruster

  ### Subscribed Topics

  • /triton/controls/output_forces (std_msgs/msg/Float64MultiArray.msg) : Control output, must be num_thrusters in length

  ### Published Topics

  • /triton/gazebo_drivers/thruster_<N> (geometry_msgs/msg/Wrench.msg) : A wrench message for each thruster, only the X axis force is used as it assumes all thruster’s X axis is aligned to where their propeller’s produce positive force

  ### Parameters

  • num_thrusters (integer): Number of thrusters to map the control output to
• key_publisher : A standalone node which listens on keyboard events and publishes interge values corresponding to power levels of thrusters ### Published Topics
  • /motor_control (std_msgs/msg/UInt32) : The unsigned integer message which consists of six 5-bit integers representing the power levels of the six thrusters.

Contributors

• Logan Fillo (logan.fillo@gmail.com)