ROS Index
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auv_controllers repositoryauv_control_demos auv_control_msgs auv_controllers thruster_allocation_matrix_controller thruster_controllers velocity_controllers |
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Repository Summary
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-09-25 |
| 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) |
Packages
| Name | Version |
|---|---|
| auv_control_demos | 0.0.1 |
| auv_control_msgs | 0.0.1 |
| auv_controllers | 0.0.1 |
| thruster_allocation_matrix_controller | 0.0.2 |
| thruster_controllers | 0.0.1 |
| velocity_controllers | 0.0.1 |
README
auv_controllers
auv_controllers is a collection of chainable controllers for autonomous underwater vehicles (AUVs) implemented using ros2_control. The controllers have been designed to support the complete AUV control hierarchy and to enable benchmarking against other commonly-used control algorithms.
[!NOTE] If you are interested in adding your own controller to this project, please consider submitting a pull request!
Installation
auv_controllers is currently supported on Linux and is available for the ROS 2
Rolling, Jazzy, Iron, and Humble distributions. To install auv_controllers,
first clone this project to the src directory of your ROS workspace:
git clone git@github.com:Robotic-Decision-Making-Lab/auv_controllers.git
After cloning the project, install all external dependencies using vcs:
vcs import src < src/auv_controllers/ros2.repos
Finally, install the ROS dependencies using rosdep:
rosdep update && \
rosdep install -y --from-paths src --ignore-src
Quick start
To learn more about how to use the controllers provided in this project, please refer to the examples package.
Getting help
If you have questions regarding usage of auv_controllers or regarding contributing to this project, please ask a question on our Discussions board!
License
auv_controllers is released under the MIT license.