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.