Updated the references in the README files (#12)

rakeshv24 · evan-palmer · coamitch · web-flow · commit 0003a0a87fc6 · 2024-03-18T22:59:58.000-07:00
* Added skeleton packages for controllers * Added vcs install to devcontainers and fixed example_pkg build error * Fixed clang format andlicense * Implemented velocity controller, TAM controller, and thruster controller (#6) * Started ISMC implementation * Continued implementing ismc * Started implementation file * Added hydrodynamic parameters * Added generate_parameter_library integration * Added everything but state callback and control law * Added system state updates * Finished initial version of velocity controller * Cleanup and minor bug fixes * Added missing imports * Added dummy package for testing * Added call to update state values * thruster allocation matrix controller before testing * changes according to PR comments * Fixed pluginlib issue. Able to load both controllers but need to address why ros2_control node dies * WIP: Modified URDF * Partially works. Still need to fix TAM controller * Save point * Started fixed * Added configuration type * Rewrite of tam controller and isolated bug in velocity controller * Added author names * Cleaned up velocity controller and fixed some bugs * Fixed bug with URDF and cleaned up thruster controller * Finished thrust curve controller * Fixed linter errors * Fixed tam bug * fixing tam todos. more work needed. * Added deadband into thruster controller * renamed command interface prefix to reference controller * Updated meta package * Added auv_control_msg package and fixed the TODOs in TAM controller * Removed unnecessary deps * Cleanup a bit * Added missing dep for hydrodynamics to package configuration * Updated to use effort interfaces * Removed unused package * Initial cleanup for pr * Fixed precommit errors and attempting to fix ci workflow * i hate devops so much * take two * Trying ros industrial again * Trying again * WHY * tired * Attempting to setup the upstream workspace * fixed clang-tidy file and linter errors * you win clang tidy * Forgot to remove colcon build from devcontainer stage * Resolved pr comments --------- Co-authored-by: unknown <coamitch@gmail.com> Co-authored-by: EverardoG <everardo.a.gonzalez@gmail.com> Co-authored-by: Rakesh Vivekanandan <rakeshvivek97@gmail.com> * Added documentation and examples to demonstrate project use (#10) * Create README.md Added a readme for the tam controller * Update README.md * additional edits to tam README.md * fixed formatting README.md * revert code block formatting and update summary in tam README.md * Created README.md for velocity controller. * Fixed velocity controller README.md formatting * Created README.md for thrust controllers. * Update README.md * Update README.md * Update README.md * Updated main README * Cleaned up readmes * Fixed notice * More formatting changes * Fixed capitalization of chainable * Fixed formatting in velocity control readme * Added missing abbreviation declaration * Implemented examples and associated documentation (#9) * add auv_control_demos * added example for individual controller * updated package.xml * minor fix to launch file * Suggested PR changes * Made some minor grammar fixes and added copyright to launch files * Fixed lint errors in auv_control_demos top-level readme * Made some formatting improvements to the chained controller demo * Made some final small changes --------- Co-authored-by: EverardoG <everardo.a.gonzalez@gmail.com> Co-authored-by: Evan Palmer <evanp922@gmail.com> --------- Co-authored-by: coamitch <52305806+coamitch@users.noreply.github.com> Co-authored-by: Rakesh Vivekanandan <rakeshvivek97@gmail.com> Co-authored-by: Rakesh Vivekanandan <34474602+rakeshv24@users.noreply.github.com> Co-authored-by: EverardoG <everardo.a.gonzalez@gmail.com> * Updated Readme files * Added skeleton packages for controllers * Added vcs install to devcontainers and fixed example_pkg build error * Fixed clang format andlicense * Implemented velocity controller, TAM controller, and thruster controller (#6) * Started ISMC implementation * Continued implementing ismc * Started implementation file * Added hydrodynamic parameters * Added generate_parameter_library integration * Added everything but state callback and control law * Added system state updates * Finished initial version of velocity controller * Cleanup and minor bug fixes * Added missing imports * Added dummy package for testing * Added call to update state values * thruster allocation matrix controller before testing * changes according to PR comments * Fixed pluginlib issue. Able to load both controllers but need to address why ros2_control node dies * WIP: Modified URDF * Partially works. Still need to fix TAM controller * Save point * Started fixed * Added configuration type * Rewrite of tam controller and isolated bug in velocity controller * Added author names * Cleaned up velocity controller and fixed some bugs * Fixed bug with URDF and cleaned up thruster controller * Finished thrust curve controller * Fixed linter errors * Fixed tam bug * fixing tam todos. more work needed. * Added deadband into thruster controller * renamed command interface prefix to reference controller * Updated meta package * Added auv_control_msg package and fixed the TODOs in TAM controller * Removed unnecessary deps * Cleanup a bit * Added missing dep for hydrodynamics to package configuration * Updated to use effort interfaces * Removed unused package * Initial cleanup for pr * Fixed precommit errors and attempting to fix ci workflow * i hate devops so much * take two * Trying ros industrial again * Trying again * WHY * tired * Attempting to setup the upstream workspace * fixed clang-tidy file and linter errors * you win clang tidy * Forgot to remove colcon build from devcontainer stage * Resolved pr comments --------- Co-authored-by: unknown <coamitch@gmail.com> Co-authored-by: EverardoG <everardo.a.gonzalez@gmail.com> Co-authored-by: Rakesh Vivekanandan <rakeshvivek97@gmail.com> * Added documentation and examples to demonstrate project use (#10) * Create README.md Added a readme for the tam controller * Update README.md * additional edits to tam README.md * fixed formatting README.md * revert code block formatting and update summary in tam README.md * Created README.md for velocity controller. * Fixed velocity controller README.md formatting * Created README.md for thrust controllers. * Update README.md * Update README.md * Update README.md * Updated main README * Cleaned up readmes * Fixed notice * More formatting changes * Fixed capitalization of chainable * Fixed formatting in velocity control readme * Added missing abbreviation declaration * Implemented examples and associated documentation (#9) * add auv_control_demos * added example for individual controller * updated package.xml * minor fix to launch file * Suggested PR changes * Made some minor grammar fixes and added copyright to launch files * Fixed lint errors in auv_control_demos top-level readme * Made some formatting improvements to the chained controller demo * Made some final small changes --------- Co-authored-by: EverardoG <everardo.a.gonzalez@gmail.com> Co-authored-by: Evan Palmer <evanp922@gmail.com> --------- Co-authored-by: coamitch <52305806+coamitch@users.noreply.github.com> Co-authored-by: Rakesh Vivekanandan <rakeshvivek97@gmail.com> Co-authored-by: Rakesh Vivekanandan <34474602+rakeshv24@users.noreply.github.com> Co-authored-by: EverardoG <everardo.a.gonzalez@gmail.com> * Bump docker/build-push-action from 5.1.0 to 5.2.0 Bumps [docker/build-push-action](https://github.com/docker/build-push-action) from 5.1.0 to 5.2.0. - [Release notes](https://github.com/docker/build-push-action/releases) - [Commits](docker/build-push-action@v5.1.0...v5.2.0) --- updated-dependencies: - dependency-name: docker/build-push-action dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] <support@github.com> * Bump docker/build-push-action from 5.2.0 to 5.3.0 (#7) Bumps [docker/build-push-action](https://github.com/docker/build-push-action) from 5.2.0 to 5.3.0. - [Release notes](https://github.com/docker/build-push-action/releases) - [Commits](docker/build-push-action@v5.2.0...v5.3.0) --- updated-dependencies: - dependency-name: docker/build-push-action dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> * Bump docker/login-action from 3.0.0 to 3.1.0 (#8) Bumps [docker/login-action](https://github.com/docker/login-action) from 3.0.0 to 3.1.0. - [Release notes](https://github.com/docker/login-action/releases) - [Commits](docker/login-action@v3.0.0...v3.1.0) --- updated-dependencies: - dependency-name: docker/login-action dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> * Updated Readme files --------- Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: Evan Palmer <evanp922@gmail.com> Co-authored-by: unknown <coamitch@gmail.com> Co-authored-by: EverardoG <everardo.a.gonzalez@gmail.com> Co-authored-by: coamitch <52305806+coamitch@users.noreply.github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
diff --git a/README.md b/README.md
@@ -35,7 +35,7 @@ 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.
+refer to the [examples package](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/tree/main/auv_control_demos).
 
 ## Getting help
 
diff --git a/auv_control_demos/README.md b/auv_control_demos/README.md
@@ -7,5 +7,5 @@ construct a cascading control architecture.
 
 To read more about how to run these examples, please see the example READMEs:
 
-- [Individual controller example](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/blob/main/auv_control_demos/individual_controllers/README.md)
+- [Individual controller example](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/blob/main/auv_control_demos/individual_controller/README.md)
 - [Chained controllers example](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/blob/main/auv_control_demos/chained_controllers/README.md)
diff --git a/auv_control_demos/chained_controllers/README.md b/auv_control_demos/chained_controllers/README.md
@@ -136,9 +136,9 @@ applies a PWM command to the hardware interface.
   - [chaining.launch.py](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/blob/main/auv_control_demos/chained_controllers/launch/chaining.launch.py)
 
 - Controllers:
-  - [Integral Sliding Mode Controller](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/tree/documentation/velocity_controllers)
-  - [Thruster Allocation Matrix Controller](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/tree/documentation/thruster_allocation_matrix_controller)
-  - [Polynomial Thrust Curve Controller](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/tree/documentation/thruster_controllers)
+  - [Integral Sliding Mode Controller](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/tree/main/velocity_controllers)
+  - [Thruster Allocation Matrix Controller](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/tree/main/thruster_allocation_matrix_controller)
+  - [Polynomial Thrust Curve Controller](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/tree/main/thruster_controllers)
 
 - Controller Config:
   - [chained_controllers.yaml](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/blob/main/auv_control_demos/chained_controllers/config/chained_controllers.yaml)
diff --git a/auv_control_demos/individual_controller/README.md b/auv_control_demos/individual_controller/README.md
@@ -1,6 +1,6 @@
 # Example 1: Individual Controller
 
-This example uses the [integral sliding mode controller](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/tree/documentation/velocity_controllers) to demonstrate how
+This example uses the [integral sliding mode controller](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/tree/main/velocity_controllers) to demonstrate how
 to launch a single controller.
 
 ## Tutorial Steps
@@ -148,7 +148,7 @@ to launch a single controller.
   - [individual.launch.py](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/blob/main/auv_control_demos/individual_controller/launch/individual.launch.py)
 
 - Controllers:
-  - [Integral Sliding Mode Controller](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/tree/documentation/velocity_controllers)
+  - [Integral Sliding Mode Controller](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/tree/main/velocity_controllers)
 
 - Controller Config:
   - [individual_controller.yaml](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/blob/main/auv_control_demos/individual_controller/config/individual_controller.yaml)
diff --git a/auv_control_demos/individual_controller/config/individual_controller.yaml b/auv_control_demos/individual_controller/config/individual_controller.yaml
@@ -1,6 +1,6 @@
 controller_manager:
   ros__parameters:
-    update_rate: 225 # Hz
+    update_rate: 30 # Hz
 
     integral_sliding_mode_controller:
       type: velocity_controllers/IntegralSlidingModeController
