diff --git a/.vscode/settings.json b/.vscode/settings.json index 0313938..bf272b8 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -21,6 +21,7 @@ "files.trimTrailingWhitespace": true, "editor.formatOnSave": true, "editor.tabSize": 2, + "editor.detectIndentation": false, "autoDocstring.startOnNewLine": false, "autoDocstring.docstringFormat": "google-notypes", "python.autoComplete.extraPaths": [ diff --git a/auv_control_demos/CHANGELOG.md b/auv_control_demos/CHANGELOG.md index d4819d7..5144491 100644 --- a/auv_control_demos/CHANGELOG.md +++ b/auv_control_demos/CHANGELOG.md @@ -1,5 +1,11 @@ # Changelog for package auv_control_demos +## 0.2.1 (2025-06-03) + +- Updates the individual_controller and chained_controllers demos to use the +current `hydrodynamics` API and the new adaptive integral terminal sliding mode +controller. + ## 0.2.0 (2025-05-03) ## 0.1.0 (2025-04-27) diff --git a/auv_control_demos/chained_controllers/README.md b/auv_control_demos/chained_controllers/README.md index dd19edb..9cea3b9 100644 --- a/auv_control_demos/chained_controllers/README.md +++ b/auv_control_demos/chained_controllers/README.md @@ -23,16 +23,16 @@ applies a PWM command to the hardware interface. The output should resemble: ```bash - integral_sliding_mode_controller[velocity_controllers/IntegralSlidingModeController] active - thruster_allocation_matrix_controller[thruster_allocation_matrix_controller/ThrusterAllocationMatrixController] active - thruster_1_controller[thruster_controllers/PolynomialThrustCurveController] active - thruster_2_controller[thruster_controllers/PolynomialThrustCurveController] active - thruster_3_controller[thruster_controllers/PolynomialThrustCurveController] active - thruster_4_controller[thruster_controllers/PolynomialThrustCurveController] active - thruster_5_controller[thruster_controllers/PolynomialThrustCurveController] active - thruster_6_controller[thruster_controllers/PolynomialThrustCurveController] active - thruster_7_controller[thruster_controllers/PolynomialThrustCurveController] active - thruster_8_controller[thruster_controllers/PolynomialThrustCurveController] active + adaptive_integral_terminal_sliding_mode_controller velocity_controllers/AdaptiveIntegralTerminalSlidingModeController active + thruster_allocation_matrix_controller thruster_allocation_matrix_controller/ThrusterAllocationMatrixController active + thruster_8_controller thruster_controllers/PolynomialThrustCurveController active + thruster_7_controller thruster_controllers/PolynomialThrustCurveController active + thruster_6_controller thruster_controllers/PolynomialThrustCurveController active + thruster_5_controller thruster_controllers/PolynomialThrustCurveController active + thruster_4_controller thruster_controllers/PolynomialThrustCurveController active + thruster_3_controller thruster_controllers/PolynomialThrustCurveController active + thruster_2_controller thruster_controllers/PolynomialThrustCurveController active + thruster_1_controller thruster_controllers/PolynomialThrustCurveController active ``` 3. Verify that the hardware interfaces have been properly loaded by opening @@ -46,57 +46,51 @@ applies a PWM command to the hardware interface. ```bash command interfaces - integral_sliding_mode_controller/rx/velocity [available] [unclaimed] - integral_sliding_mode_controller/ry/velocity [available] [unclaimed] - integral_sliding_mode_controller/rz/velocity [available] [unclaimed] - integral_sliding_mode_controller/x/velocity [available] [unclaimed] - integral_sliding_mode_controller/y/velocity [available] [unclaimed] - integral_sliding_mode_controller/z/velocity [available] [unclaimed] - thruster_1_controller/thruster_1_joint/effort [available] [claimed] - thruster_1_joint/effort [available] [claimed] - thruster_2_controller/thruster_2_joint/effort [available] [claimed] - thruster_2_joint/effort [available] [claimed] - thruster_3_controller/thruster_3_joint/effort [available] [claimed] - thruster_3_joint/effort [available] [claimed] - thruster_4_controller/thruster_4_joint/effort [available] [claimed] - thruster_4_joint/effort [available] [claimed] - thruster_5_controller/thruster_5_joint/effort [available] [claimed] - thruster_5_joint/effort [available] [claimed] - thruster_6_controller/thruster_6_joint/effort [available] [claimed] - thruster_6_joint/effort [available] [claimed] - thruster_7_controller/thruster_7_joint/effort [available] [claimed] - thruster_7_joint/effort [available] [claimed] - thruster_8_controller/thruster_8_joint/effort [available] [claimed] - thruster_8_joint/effort [available] [claimed] - thruster_allocation_matrix_controller/rx/effort [available] [claimed] - thruster_allocation_matrix_controller/ry/effort [available] [claimed] - thruster_allocation_matrix_controller/rz/effort [available] [claimed] - thruster_allocation_matrix_controller/x/effort [available] [claimed] - thruster_allocation_matrix_controller/y/effort [available] [claimed] - thruster_allocation_matrix_controller/z/effort [available] [claimed] + adaptive_integral_terminal_sliding_mode_controller/rx/velocity [available] [unclaimed] + adaptive_integral_terminal_sliding_mode_controller/ry/velocity [available] [unclaimed] + adaptive_integral_terminal_sliding_mode_controller/rz/velocity [available] [unclaimed] + adaptive_integral_terminal_sliding_mode_controller/x/velocity [available] [unclaimed] + adaptive_integral_terminal_sliding_mode_controller/y/velocity [available] [unclaimed] + adaptive_integral_terminal_sliding_mode_controller/z/velocity [available] [unclaimed] + thruster_1_controller/thruster_1_joint/effort [available] [claimed] + thruster_1_joint/pwm [available] [claimed] + thruster_2_controller/thruster_2_joint/effort [available] [claimed] + thruster_2_joint/pwm [available] [claimed] + thruster_3_controller/thruster_3_joint/effort [available] [claimed] + thruster_3_joint/pwm [available] [claimed] + thruster_4_controller/thruster_4_joint/effort [available] [claimed] + thruster_4_joint/pwm [available] [claimed] + thruster_5_controller/thruster_5_joint/effort [available] [claimed] + thruster_5_joint/pwm [available] [claimed] + thruster_6_controller/thruster_6_joint/effort [available] [claimed] + thruster_6_joint/pwm [available] [claimed] + thruster_7_controller/thruster_7_joint/effort [available] [claimed] + thruster_7_joint/pwm [available] [claimed] + thruster_8_controller/thruster_8_joint/effort [available] [claimed] + thruster_8_joint/pwm [available] [claimed] + thruster_allocation_matrix_controller/rx/effort [available] [claimed] + thruster_allocation_matrix_controller/ry/effort [available] [claimed] + thruster_allocation_matrix_controller/rz/effort [available] [claimed] + thruster_allocation_matrix_controller/x/effort [available] [claimed] + thruster_allocation_matrix_controller/y/effort [available] [claimed] + thruster_allocation_matrix_controller/z/effort [available] [claimed] state interfaces - rx/velocity - ry/velocity - rz/velocity - x/velocity - y/velocity - z/velocity ``` -4. State feedback can be provided to ISMC using the controller's state +4. State feedback can be provided to AITSMC using the controller's state interfaces or a topic. To demonstrate the topic-based interface, run the following command: ```bash - ros2 topic pub /integral_sliding_mode_controller/system_state nav_msgs/msg/Odometry + ros2 topic pub /adaptive_integral_terminal_sliding_mode_controller/system_state nav_msgs/msg/Odometry ``` -5. The ISMC accepts reference commands sent over a topic or a reference +5. The AITSMC accepts reference commands sent over a topic or a reference interface. Run the following command in a separate terminal to provide the controller with a dummy reference input: ```bash - ros2 topic pub /integral_sliding_mode_controller/reference geometry_msgs/msg/Twist "{linear: {x: 0.5, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.2}}" + ros2 topic pub /adaptive_integral_terminal_sliding_mode_controller/reference geometry_msgs/msg/Twist "{linear: {x: 0.5, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.2}}" ``` 6. Each of the implemented controllers publishes controller state information to @@ -111,23 +105,23 @@ applies a PWM command to the hardware interface. ```bash header: stamp: - sec: 1710818346 - nanosec: 252453476 + sec: 1748936962 + nanosec: 907678344 frame_id: '' dof_state: name: thruster_2_joint - reference: -39.79632414479818 + reference: -63.32823451272053 feedback: 0.0 feedback_dot: 0.0 error: 0.0 error_dot: 0.0 - time_step: 0.033380572 + time_step: 0.033281545 output: 1134.0 ``` This output indicates that the controller chaining was successful. In particular, we can see that the velocity commands sent to the - `integral_sliding_mode_controller` are converted to thrust values, which is + `adaptive_integral_terminal_sliding_mode_controller` are converted to thrust values, which is reflected in the `thruster_controller` output. ## Files used for this demo @@ -136,14 +130,15 @@ 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/main/velocity_controllers) + - [Adaptive Integral Terminal 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) + - [chained.controllers.yaml](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/blob/main/auv_control_demos/chained_controllers/config/chained_controllers.yaml) - Xacro Files: - - [chained_config.xacro](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/blob/main/auv_control_demos/chained_controllers/xacro/chained_config.xacro) - - [chained_ros2_control.xacro](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/blob/main/auv_control_demos/chained_controllers/xacro/chained_ros2_control.xacro) - - [chained_urdf.xacro](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/blob/main/auv_control_demos/chained_controllers/xacro/chained_urdf.xacro) + - [chained.config.xacro](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/blob/main/auv_control_demos/chained_controllers/xacro/chained.config.xacro) + - [chained.ros2_control.xacro](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/blob/main/auv_control_demos/chained_controllers/xacro/chained.ros2_control.xacro) + - [chained.urdf.xacro](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/blob/main/auv_control_demos/chained_controllers/xacro/chained.urdf.xacro) + - [chained.model.xacro](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/blob/main/auv_control_demos/chained_controllers/xacro/chained.urdf.xacro) diff --git a/auv_control_demos/chained_controllers/config/chained_controllers.yaml b/auv_control_demos/chained_controllers/config/chained_controllers.yaml index 9ffce54..8c61ded 100644 --- a/auv_control_demos/chained_controllers/config/chained_controllers.yaml +++ b/auv_control_demos/chained_controllers/config/chained_controllers.yaml @@ -2,8 +2,8 @@ controller_manager: ros__parameters: update_rate: 30 # Hz - integral_sliding_mode_controller: - type: velocity_controllers/IntegralSlidingModeController + adaptive_integral_terminal_sliding_mode_controller: + type: velocity_controllers/AdaptiveIntegralTerminalSlidingModeController thruster_allocation_matrix_controller: type: thruster_allocation_matrix_controller/ThrusterAllocationMatrixController @@ -32,24 +32,48 @@ controller_manager: thruster_8_controller: type: thruster_controllers/PolynomialThrustCurveController -integral_sliding_mode_controller: +adaptive_integral_terminal_sliding_mode_controller: ros__parameters: - use_external_measured_states: true reference_controller: thruster_allocation_matrix_controller + use_external_measured_states: true gains: - rho: 20.0 - lambda: 200.0 - Kp: [10.0, 10.0, 6.0, 3.0, 6.0, 10.0] - hydrodynamics: - mass: 13.5 - weight: 114.80 - buoyancy: 112.80 - moments_of_inertia: [0.16, 0.16, 0.16] - added_mass: [-5.50, -12.70, -14.60, -0.12, -0.12, -0.12] - center_of_buoyancy: [0.0, 0.0, 0.0] - center_of_gravity: [0.0, 0.0, 0.0] - linear_damping: [-4.03, -6.22, -5.18, -0.07, -0.07, -0.07] - quadratic_damping: [-18.18, -21.66, -36.99, -1.55, -1.55, -1.55] + lambda: 0.9 + x: + alpha: 12.0 + k1_min: 0.1 + k2: 0.4 + k_theta: 2.0 + mu: 0.01 + y: + alpha: 12.0 + k1_min: 0.1 + k2: 0.4 + k_theta: 2.0 + mu: 0.01 + z: + alpha: 12.0 + k1_min: 0.4 + k2: 0.8 + k_theta: 2.0 + mu: 0.01 + rx: + alpha: 0.5 + k1_min: 0.1 + k2: 0.4 + k_theta: 2.0 + mu: 0.01 + ry: + alpha: 12.0 + k1_min: 0.1 + k2: 1.0 + k_theta: 2.0 + mu: 0.01 + rz: + alpha: 12.0 + k1_min: 0.1 + k2: 0.4 + k_theta: 2.0 + mu: 0.01 thruster_allocation_matrix_controller: ros__parameters: diff --git a/auv_control_demos/chained_controllers/launch/chaining.launch.py b/auv_control_demos/chained_controllers/launch/chaining.launch.py index de4104b..ad4d79f 100644 --- a/auv_control_demos/chained_controllers/launch/chaining.launch.py +++ b/auv_control_demos/chained_controllers/launch/chaining.launch.py @@ -40,7 +40,7 @@ def generate_launch_description(): [ FindPackageShare("auv_control_demos"), "xacro", - "chained_config.xacro", + "chained.config.xacro", ] ), ] @@ -51,7 +51,7 @@ def generate_launch_description(): package="controller_manager", executable="spawner", arguments=[ - "integral_sliding_mode_controller", + "adaptive_integral_terminal_sliding_mode_controller", "--controller-manager", ["", "controller_manager"], ], diff --git a/auv_control_demos/chained_controllers/xacro/chained_config.xacro b/auv_control_demos/chained_controllers/xacro/chained.config.xacro similarity index 64% rename from auv_control_demos/chained_controllers/xacro/chained_config.xacro rename to auv_control_demos/chained_controllers/xacro/chained.config.xacro index 1e17ed6..6d1e771 100644 --- a/auv_control_demos/chained_controllers/xacro/chained_config.xacro +++ b/auv_control_demos/chained_controllers/xacro/chained.config.xacro @@ -2,8 +2,8 @@ - - - + + + diff --git a/auv_control_demos/chained_controllers/xacro/chained.model.xacro b/auv_control_demos/chained_controllers/xacro/chained.model.xacro new file mode 100644 index 0000000..e5a0d2d --- /dev/null +++ b/auv_control_demos/chained_controllers/xacro/chained.model.xacro @@ -0,0 +1,42 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/auv_control_demos/chained_controllers/xacro/chained_ros2_control.xacro b/auv_control_demos/chained_controllers/xacro/chained.ros2_control.xacro similarity index 53% rename from auv_control_demos/chained_controllers/xacro/chained_ros2_control.xacro rename to auv_control_demos/chained_controllers/xacro/chained.ros2_control.xacro index 95696d9..7f00692 100644 --- a/auv_control_demos/chained_controllers/xacro/chained_ros2_control.xacro +++ b/auv_control_demos/chained_controllers/xacro/chained.ros2_control.xacro @@ -7,42 +7,6 @@ false - - - 0.0 - - - - - - 0.0 - - - - - - 0.0 - - - - - - 0.0 - - - - - - 0.0 - - - - - - 0.0 - - - diff --git a/auv_control_demos/chained_controllers/xacro/chained.urdf.xacro b/auv_control_demos/chained_controllers/xacro/chained.urdf.xacro new file mode 100644 index 0000000..c74492c --- /dev/null +++ b/auv_control_demos/chained_controllers/xacro/chained.urdf.xacro @@ -0,0 +1,142 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/auv_control_demos/chained_controllers/xacro/chained_urdf.xacro b/auv_control_demos/chained_controllers/xacro/chained_urdf.xacro deleted file mode 100644 index d663453..0000000 --- a/auv_control_demos/chained_controllers/xacro/chained_urdf.xacro +++ /dev/null @@ -1,170 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/auv_control_demos/individual_controller/README.md b/auv_control_demos/individual_controller/README.md index aabaa0a..20e289b 100644 --- a/auv_control_demos/individual_controller/README.md +++ b/auv_control_demos/individual_controller/README.md @@ -21,7 +21,7 @@ This example uses the [integral sliding mode controller](https://github.com/Robo The output should resemble: ```bash - integral_sliding_mode_controller[velocity_controllers/IntegralSlidingModeController] active + adaptive_integral_terminal_sliding_mode_controller velocity_controllers/AdaptiveIntegralTerminalSlidingModeController active ``` 3. Check that the hardware interfaces have been properly loaded by opening @@ -35,25 +35,25 @@ This example uses the [integral sliding mode controller](https://github.com/Robo ```bash command interfaces - integral_sliding_mode_controller/rx/velocity [available] [unclaimed] - integral_sliding_mode_controller/ry/velocity [available] [unclaimed] - integral_sliding_mode_controller/rz/velocity [available] [unclaimed] - integral_sliding_mode_controller/x/velocity [available] [unclaimed] - integral_sliding_mode_controller/y/velocity [available] [unclaimed] - integral_sliding_mode_controller/z/velocity [available] [unclaimed] - rx/effort [available] [claimed] - ry/effort [available] [claimed] - rz/effort [available] [claimed] - x/effort [available] [claimed] - y/effort [available] [claimed] - z/effort [available] [claimed] + adaptive_integral_terminal_sliding_mode_controller/rx/velocity [available] [unclaimed] + adaptive_integral_terminal_sliding_mode_controller/ry/velocity [available] [unclaimed] + adaptive_integral_terminal_sliding_mode_controller/rz/velocity [available] [unclaimed] + adaptive_integral_terminal_sliding_mode_controller/x/velocity [available] [unclaimed] + adaptive_integral_terminal_sliding_mode_controller/y/velocity [available] [unclaimed] + adaptive_integral_terminal_sliding_mode_controller/z/velocity [available] [unclaimed] + rx/effort [available] [claimed] + ry/effort [available] [claimed] + rz/effort [available] [claimed] + x/effort [available] [claimed] + y/effort [available] [claimed] + z/effort [available] [claimed] state interfaces - rx/velocity - ry/velocity - rz/velocity - x/velocity - y/velocity - z/velocity + rx/velocity + ry/velocity + rz/velocity + x/velocity + y/velocity + z/velocity ``` 4. State feedback can be sent to the controller using a topic or the @@ -61,22 +61,22 @@ This example uses the [integral sliding mode controller](https://github.com/Robo topic-based interface: ```bash - ros2 topic pub /integral_sliding_mode_controller/system_state nav_msgs/msg/Odometry + ros2 topic pub /adaptive_integral_terminal_sliding_mode_controller/system_state nav_msgs/msg/Odometry ``` -5. The ISMC accepts reference commands sent via a topic or the controller's +5. The AITSMC accepts reference commands sent via a topic or the controller's reference interfaces. Run the following command in a separate terminal to provide the controller with a dummy reference input: ```bash - ros2 topic pub /integral_sliding_mode_controller/reference geometry_msgs/msg/Twist "{linear: {x: 0.5, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.2}}" + ros2 topic pub /adaptive_integral_terminal_sliding_mode_controller/reference geometry_msgs/msg/Twist "{linear: {x: 0.5, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.2}}" ``` 6. The current state of the controller can be observed on the `~/status` topic. For example, ```bash - ros2 topic echo /integral_sliding_mode_controller/status + ros2 topic echo /adaptive_integral_terminal_sliding_mode_controller/status ``` should yield an output similar to the following: @@ -84,8 +84,8 @@ This example uses the [integral sliding mode controller](https://github.com/Robo ```bash header: stamp: - sec: 1710817505 - nanosec: 673791332 + sec: 1748936374 + nanosec: 519996894 frame_id: '' dof_states: - name: x @@ -94,15 +94,15 @@ This example uses the [integral sliding mode controller](https://github.com/Robo feedback_dot: 0.0 error: 0.5 error_dot: 0.0 - time_step: 0.004459243 - output: 102.03798479512044 + time_step: 0.033335234 + output: 176.02789696997084 - name: y reference: 0.0 feedback: 0.0 feedback_dot: 0.0 error: 0.0 error_dot: 0.0 - time_step: 0.004459243 + time_step: 0.033335234 output: 0.0 - name: z reference: 0.0 @@ -110,15 +110,15 @@ This example uses the [integral sliding mode controller](https://github.com/Robo feedback_dot: 0.0 error: 0.0 error_dot: 0.0 - time_step: 0.004459243 - output: -2.0 + time_step: 0.033335234 + output: -3.034099999999995 - name: rx reference: 0.0 feedback: 0.0 feedback_dot: 0.0 error: 0.0 error_dot: 0.0 - time_step: 0.004459243 + time_step: 0.033335234 output: 0.0 - name: ry reference: 0.0 @@ -126,7 +126,7 @@ This example uses the [integral sliding mode controller](https://github.com/Robo feedback_dot: 0.0 error: 0.0 error_dot: 0.0 - time_step: 0.004459243 + time_step: 0.033335234 output: 0.0 - name: rz reference: 0.2 @@ -134,11 +134,12 @@ This example uses the [integral sliding mode controller](https://github.com/Robo feedback_dot: 0.0 error: 0.2 error_dot: 0.0 - time_step: 0.004459243 - output: 3.479864118728659 + time_step: 0.033335234 + output: 0.8183158752505321 + --- ``` - This output also demonstrates that the ISMC is functional. Any changes to + This output also demonstrates that the AITSMC is functional. Any changes to the reference command or state are reflected in the output of this topic. ### Files used for this demo @@ -147,12 +148,13 @@ This example uses the [integral sliding mode controller](https://github.com/Robo - [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/main/velocity_controllers) + - [Adaptive Integral Terminal 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) - Xacro Files: - - [individual_config.xacro](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/blob/main/auv_control_demos/individual_controller/xacro/individual_config.xacro) - - [individual_ros2_control.xacro](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/blob/main/auv_control_demos/individual_controller/xacro/individual_ros2_control.xacro) - - [individual_urdf.xacro](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/blob/main/auv_control_demos/individual_controller/xacro/individual_urdf.xacro) + - [individual.config.xacro](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/blob/main/auv_control_demos/individual_controller/xacro/individual.config.xacro) + - [individual.ros2_control.xacro](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/blob/main/auv_control_demos/individual_controller/xacro/individual.ros2_control.xacro) + - [individual.urdf.xacro](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/blob/main/auv_control_demos/individual_controller/xacro/individual.urdf.xacro) + - [individual.model.xacro](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/blob/main/auv_control_demos/individual_controller/xacro/individual.model.xacro) diff --git a/auv_control_demos/individual_controller/config/individual_controller.yaml b/auv_control_demos/individual_controller/config/individual_controller.yaml index d5faa7f..a7f1177 100644 --- a/auv_control_demos/individual_controller/config/individual_controller.yaml +++ b/auv_control_demos/individual_controller/config/individual_controller.yaml @@ -2,23 +2,47 @@ controller_manager: ros__parameters: update_rate: 30 # Hz - integral_sliding_mode_controller: - type: velocity_controllers/IntegralSlidingModeController + adaptive_integral_terminal_sliding_mode_controller: + type: velocity_controllers/AdaptiveIntegralTerminalSlidingModeController -integral_sliding_mode_controller: +adaptive_integral_terminal_sliding_mode_controller: ros__parameters: use_external_measured_states: true gains: - rho: 20.0 - lambda: 200.0 - Kp: [10.0, 10.0, 6.0, 3.0, 6.0, 10.0] - hydrodynamics: - mass: 13.5 - weight: 114.80 - buoyancy: 112.80 - moments_of_inertia: [0.16, 0.16, 0.16] - added_mass: [-5.50, -12.70, -14.60, -0.12, -0.12, -0.12] - center_of_buoyancy: [0.0, 0.0, 0.0] - center_of_gravity: [0.0, 0.0, 0.0] - linear_damping: [-4.03, -6.22, -5.18, -0.07, -0.07, -0.07] - quadratic_damping: [-18.18, -21.66, -36.99, -1.55, -1.55, -1.55] + lambda: 0.9 + x: + alpha: 12.0 + k1_min: 0.1 + k2: 0.4 + k_theta: 2.0 + mu: 0.01 + y: + alpha: 12.0 + k1_min: 0.1 + k2: 0.4 + k_theta: 2.0 + mu: 0.01 + z: + alpha: 12.0 + k1_min: 0.4 + k2: 0.8 + k_theta: 2.0 + mu: 0.01 + rx: + alpha: 0.5 + k1_min: 0.1 + k2: 0.4 + k_theta: 2.0 + mu: 0.01 + ry: + alpha: 12.0 + k1_min: 0.1 + k2: 1.0 + k_theta: 2.0 + mu: 0.01 + rz: + alpha: 12.0 + k1_min: 0.1 + k2: 0.4 + k_theta: 2.0 + mu: 0.01 diff --git a/auv_control_demos/individual_controller/launch/individual.launch.py b/auv_control_demos/individual_controller/launch/individual.launch.py index 5d709f5..155ad85 100644 --- a/auv_control_demos/individual_controller/launch/individual.launch.py +++ b/auv_control_demos/individual_controller/launch/individual.launch.py @@ -38,7 +38,7 @@ def generate_launch_description(): [ FindPackageShare("auv_control_demos"), "xacro", - "individual_config.xacro", + "individual.config.xacro", ] ), ] @@ -74,7 +74,7 @@ def generate_launch_description(): package="controller_manager", executable="spawner", arguments=[ - "integral_sliding_mode_controller", + "adaptive_integral_terminal_sliding_mode_controller", "--controller-manager", ["", "controller_manager"], ], diff --git a/auv_control_demos/individual_controller/xacro/individual_config.xacro b/auv_control_demos/individual_controller/xacro/individual.config.xacro similarity index 62% rename from auv_control_demos/individual_controller/xacro/individual_config.xacro rename to auv_control_demos/individual_controller/xacro/individual.config.xacro index 0706330..ce0a688 100644 --- a/auv_control_demos/individual_controller/xacro/individual_config.xacro +++ b/auv_control_demos/individual_controller/xacro/individual.config.xacro @@ -2,8 +2,8 @@ - - - + + + diff --git a/auv_control_demos/individual_controller/xacro/individual.model.xacro b/auv_control_demos/individual_controller/xacro/individual.model.xacro new file mode 100644 index 0000000..e5a0d2d --- /dev/null +++ b/auv_control_demos/individual_controller/xacro/individual.model.xacro @@ -0,0 +1,42 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/auv_control_demos/individual_controller/xacro/individual_ros2_control.xacro b/auv_control_demos/individual_controller/xacro/individual.ros2_control.xacro similarity index 100% rename from auv_control_demos/individual_controller/xacro/individual_ros2_control.xacro rename to auv_control_demos/individual_controller/xacro/individual.ros2_control.xacro diff --git a/auv_control_demos/individual_controller/xacro/individual_urdf.xacro b/auv_control_demos/individual_controller/xacro/individual.urdf.xacro similarity index 100% rename from auv_control_demos/individual_controller/xacro/individual_urdf.xacro rename to auv_control_demos/individual_controller/xacro/individual.urdf.xacro diff --git a/auv_control_demos/package.xml b/auv_control_demos/package.xml index eda73df..4da428e 100644 --- a/auv_control_demos/package.xml +++ b/auv_control_demos/package.xml @@ -3,7 +3,7 @@ auv_control_demos - 0.2.0 + 0.2.1 Example package that includes demos for using auv_controllers in individual and chained modes Colin Mitchell diff --git a/auv_control_msgs/CHANGELOG.md b/auv_control_msgs/CHANGELOG.md index cf6d0d6..bf7ce60 100644 --- a/auv_control_msgs/CHANGELOG.md +++ b/auv_control_msgs/CHANGELOG.md @@ -1,5 +1,7 @@ # Changelog for package auv_control_msgs +## 0.2.1 (2025-06-03) + ## 0.2.0 (2025-05-03) - Implements the EndEffectorTrajectory message diff --git a/auv_control_msgs/package.xml b/auv_control_msgs/package.xml index fa31191..6ca9806 100644 --- a/auv_control_msgs/package.xml +++ b/auv_control_msgs/package.xml @@ -2,7 +2,7 @@ auv_control_msgs - 0.2.0 + 0.2.1 Custom messages for AUV controllers Rakesh Vivekanandan diff --git a/auv_controllers/CHANGELOG.md b/auv_controllers/CHANGELOG.md index 48279b9..c868f9e 100644 --- a/auv_controllers/CHANGELOG.md +++ b/auv_controllers/CHANGELOG.md @@ -1,5 +1,9 @@ # Changelog for package auv_controllers +## 0.2.1 (2025-06-03) + +- Fixes the auv_control_demos configurations + ## 0.2.0 (2025-05-03) - Adds the end effector trajectory controller diff --git a/auv_controllers/package.xml b/auv_controllers/package.xml index 11d30cf..0bddd3e 100644 --- a/auv_controllers/package.xml +++ b/auv_controllers/package.xml @@ -3,7 +3,7 @@ auv_controllers - 0.2.0 + 0.2.1 Meta package for auv_controllers Evan Palmer diff --git a/controller_common/CHANGELOG.md b/controller_common/CHANGELOG.md index 63dadc7..9b65e0f 100644 --- a/controller_common/CHANGELOG.md +++ b/controller_common/CHANGELOG.md @@ -1,5 +1,7 @@ # Changelog for package controller_common +## 0.2.1 (2025-06-03) + ## 0.2.0 (2025-05-03) - Adds the common::math::isclose method for comparing doubles diff --git a/controller_common/package.xml b/controller_common/package.xml index 9122575..1ca0cb1 100644 --- a/controller_common/package.xml +++ b/controller_common/package.xml @@ -3,7 +3,7 @@ controller_common - 0.2.0 + 0.2.1 Common interfaces for controllers used in this project Evan Palmer diff --git a/end_effector_trajectory_controller/CHANGELOG.md b/end_effector_trajectory_controller/CHANGELOG.md new file mode 100644 index 0000000..a30279d --- /dev/null +++ b/end_effector_trajectory_controller/CHANGELOG.md @@ -0,0 +1,7 @@ +# Changelog for package controller_common + +## 0.2.1 (2025-06-03) + +## 0.2.0 (2025-05-03) + +- Implements the end_effector_trajectory_controller diff --git a/end_effector_trajectory_controller/include/end_effector_trajectory_controller/end_effector_trajectory_controller.hpp b/end_effector_trajectory_controller/include/end_effector_trajectory_controller/end_effector_trajectory_controller.hpp index 933c91b..8b513fe 100644 --- a/end_effector_trajectory_controller/include/end_effector_trajectory_controller/end_effector_trajectory_controller.hpp +++ b/end_effector_trajectory_controller/include/end_effector_trajectory_controller/end_effector_trajectory_controller.hpp @@ -32,7 +32,7 @@ #include "realtime_tools/realtime_buffer.hpp" #include "realtime_tools/realtime_publisher.hpp" #include "realtime_tools/realtime_server_goal_handle.hpp" -#include "tf2/exceptions.h" +#include "tf2/exceptions.hpp" #include "tf2_ros/buffer.h" #include "tf2_ros/transform_listener.h" diff --git a/end_effector_trajectory_controller/package.xml b/end_effector_trajectory_controller/package.xml index 910998f..3cc36fc 100644 --- a/end_effector_trajectory_controller/package.xml +++ b/end_effector_trajectory_controller/package.xml @@ -3,7 +3,7 @@ end_effector_trajectory_controller - 0.2.0 + 0.2.1 End effector trajectory tracking controller for UVMS control Evan Palmer diff --git a/ik_solvers/CHANGELOG.md b/ik_solvers/CHANGELOG.md index 8c9f764..b829884 100644 --- a/ik_solvers/CHANGELOG.md +++ b/ik_solvers/CHANGELOG.md @@ -1,5 +1,7 @@ # Changelog for package ik_solvers +## 0.2.1 (2025-06-03) + ## 0.2.0 (2025-05-03) - Replace instances of `Eigen::Affine3d` with `Eigen::Isometry3d` diff --git a/ik_solvers/package.xml b/ik_solvers/package.xml index cae9040..d788e50 100644 --- a/ik_solvers/package.xml +++ b/ik_solvers/package.xml @@ -3,7 +3,7 @@ ik_solvers - 0.2.0 + 0.2.1 Inverse kinematics solvers used for whole-body control Evan Palmer diff --git a/thruster_allocation_matrix_controller/CHANGELOG.md b/thruster_allocation_matrix_controller/CHANGELOG.md index fb5c325..a6f27e5 100644 --- a/thruster_allocation_matrix_controller/CHANGELOG.md +++ b/thruster_allocation_matrix_controller/CHANGELOG.md @@ -1,5 +1,7 @@ # Changelog for package thruster_allocation_matrix_controller +## 0.2.1 (2025-06-03) + ## 0.2.0 (2025-05-03) ## 0.1.0 (2025-04-27) diff --git a/thruster_allocation_matrix_controller/package.xml b/thruster_allocation_matrix_controller/package.xml index 66a1823..8c02b63 100644 --- a/thruster_allocation_matrix_controller/package.xml +++ b/thruster_allocation_matrix_controller/package.xml @@ -3,7 +3,7 @@ thruster_allocation_matrix_controller - 0.2.0 + 0.2.1 Thruster allocation matrix controller used to convert wrench commands into thrust commands Evan Palmer diff --git a/thruster_controllers/CHANGELOG.md b/thruster_controllers/CHANGELOG.md index 6e590ff..71b3e38 100644 --- a/thruster_controllers/CHANGELOG.md +++ b/thruster_controllers/CHANGELOG.md @@ -1,5 +1,7 @@ # Changelog for package thruster_controllers +## 0.2.1 (2025-06-03) + ## 0.2.0 (2025-05-03) ## 0.1.0 (2025-04-27) diff --git a/thruster_controllers/package.xml b/thruster_controllers/package.xml index 0282d47..965421d 100644 --- a/thruster_controllers/package.xml +++ b/thruster_controllers/package.xml @@ -3,7 +3,7 @@ thruster_controllers - 0.2.0 + 0.2.1 A collection of thruster controllers for AUV control Evan Palmer diff --git a/topic_sensors/CHANGELOG.md b/topic_sensors/CHANGELOG.md index e2f4a4e..3b39871 100644 --- a/topic_sensors/CHANGELOG.md +++ b/topic_sensors/CHANGELOG.md @@ -1,5 +1,7 @@ # Changelog for package topic_sensors +## 0.2.1 (2025-06-03) + ## 0.2.0 (2025-05-03) ## 0.1.0 (2025-04-27) diff --git a/topic_sensors/package.xml b/topic_sensors/package.xml index da96fb0..19a21c9 100644 --- a/topic_sensors/package.xml +++ b/topic_sensors/package.xml @@ -3,7 +3,7 @@ topic_sensors - 0.2.0 + 0.2.1 Sensor plugins used to write ROS 2 messages to state interfaces Evan Palmer diff --git a/velocity_controllers/CHANGELOG.md b/velocity_controllers/CHANGELOG.md index 9463314..16f54a0 100644 --- a/velocity_controllers/CHANGELOG.md +++ b/velocity_controllers/CHANGELOG.md @@ -1,5 +1,7 @@ # Changelog for package velocity_controllers +## 0.2.1 (2025-06-03) + ## 0.2.0 (2025-05-03) ## 0.1.0 (2025-04-27) diff --git a/velocity_controllers/package.xml b/velocity_controllers/package.xml index c2f9b1f..09dae57 100644 --- a/velocity_controllers/package.xml +++ b/velocity_controllers/package.xml @@ -3,7 +3,7 @@ velocity_controllers - 0.2.0 + 0.2.1 A collection of velocity controllers for underwater vehicles Evan Palmer diff --git a/whole_body_controllers/CHANGELOG.md b/whole_body_controllers/CHANGELOG.md index 85f2fb8..2fdcbb6 100644 --- a/whole_body_controllers/CHANGELOG.md +++ b/whole_body_controllers/CHANGELOG.md @@ -1,5 +1,7 @@ # Changelog for package whole_body_controllers +## 0.2.1 (2025-06-03) + ## 0.2.0 (2025-05-03) - Replaces instances of `Eigen::Affine3d` with `Eigen::Isometry3d` diff --git a/whole_body_controllers/package.xml b/whole_body_controllers/package.xml index 70e9197..6342cea 100644 --- a/whole_body_controllers/package.xml +++ b/whole_body_controllers/package.xml @@ -3,7 +3,7 @@ whole_body_controllers - 0.2.0 + 0.2.1 Whole-body controllers for underwater vehicle manipulator systems Evan Palmer