Implement TPIK controller and AITSMC #51
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…me buffers to copy message instead of pointer
evan-palmer
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Apr 26, 2025
thruster_controllers/include/thruster_controllers/gz_passthrough_controller.hpp
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thruster_controllers/include/thruster_controllers/rotation_rate_controller.hpp
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thruster_controllers/src/polynomial_thrust_curve_controller.cpp
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whole_body_controllers/include/whole_body_controllers/ik_controller.hpp
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The remaining errors are all a consequence of me using C++ 23 features. Those errors do not need to be fixed. |
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Apr 27, 2025
* Updated ISMC to use twist stamped state message and refactored realtime buffers to copy message instead of pointer * starting port of tpik control * Continued work on TPIK controller * Started implementing task priority IK solver * Implemented base tpik solver * Finished initial implementation of constraints and task priority solver * Cleanup * Cleanup and starting to integrate pinocchio * missing change * Continuing to integrate pinocchio for jacobians * bedtime * actually bedtime now * Refactored solver * Finished initial version - starting build * gym time baby * solver compile working * Started ik controller * Wrote initial version of ik controller * gym time baby * ok actually gym time now * ik controller compiles * Remove state subscriber * Added odom sensorg * Added topic sensor readme * Updated to latest version of ros2_control api * Update cmakelists files * updated dockerfile * added structure for aitsmc * Started aitsmc implementation * Implemented bare bones version of aitsmc * Initial version of AITSMC compiles * cleanup * Cleanup * Update issue templates * Started updating readmes * name spell error * fixed ismc * Switch to alternative version of jacobian for pose constraint * 3 hours of my life spent on this freaking bug * use updated hydrodynamics api * updates * Fix topic sensor * debugging sensor * bleh * Fixed segfault in odom sensor * quick hack * quick hack * Start updated ismc and integrated updated hydrodynamics api * finish integrating updated hydrodynamics api * fix transient local * Fix bugs in model parsing * update description topic * remove initial adaptive gain value * fix qos in aitsmc * Fixed disturbance rejection torque * added angular velocity thruster controller * remove deadband from force model * fix controller registration * Fix nan thruster bug * fix bug in controller state publishers * reintroduce cleaned up external state interface for velocity controllers * Added deadband to rate controller * rename parameter * Added a gazebo passthrough thruster controller * test full urdf and start debugging tpik controller * adding docs to thruster controllers * testing math * updated thruster controller docs * testing math mode * update controller docs * update controller docs * update controller docs * Added controller state publisher to aitsmc * update controller docs * potential fix for controller manager * Fix linking bug * debugging wbc * cleanup and debugging wbc * Fixes to wbc * Fix solver export * split ik solvers into new package * bleh * pain * testing * revert * debugging ik solvers * adding tests for tpik controller * move urdf file * remove solver testing package * debug tpik solver * started moving ik solver examples to demos dir * add print to check aitsmc adaptation * testing * bleh * testing * bleh * bleh * bleh * bleh * bug fix * bug fix * bug fix * bug fix * bug fix * bleh * aitsmc debugged * fix parameters * pluginlib export not working again ahhhhh * fix pluginlib export * fix command interfaces * cleanup + cleanup params files * missing quotation mark * fix segfault * cleanup * cleanup * fix bug in state values save * revert change * Fix parameter namespacing * pain * Attempting frame error fix * Fixed q order in update state values * potential fix * dumb * Refactoring ik controller * refactored ik controller * fix resize bug * silly bug * more bug fixes * fixed ik controller * cleanup * Removed testing script * debugging * Fixed state update bug * WORKING STATE * testing ik_solver lib in whole_body_controllers * Revert and cleanup * getting ready for PR * docs * grammar * Add support to auto transform messages using the odom sensor * forgot to update build * fix broken wbc build * fix pinv bug * fix bug in aitsmc * done * precommit * address pr comments * cleanup * change no solution to debug log * remove unused dependency * try fixing ci pipeline * try c++ 20 * fix implicit cast to int * clang tidy fixes * format * Added changelogs and bumped version numbers * spelling (cherry picked from commit b9ada28) # Conflicts: # README.md
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Changes Made
NOTE: This PR will not be backported to Humble.
This is a large PR with several key changes:
Associated Issues
Testing
Testing has been does in simulation with Blue. A UVMS demo has been added to blue show IK controller usage.