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HKPolyU-UAV / bluerov2

Designing MPC for bluerov2 model
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Clarifications on PID Controller #3

Open Irrelev4nt13 opened 3 months ago

Irrelev4nt13 commented 3 months ago

Hello,

I installed the bluerov2 simulator as you suggested in the installation guide but I'm confused on how to launch the PID Controller. My goal is to give the robot a XYZ coordinate + orientation and it will go to the coordinates with the given orientation. I want to use either gazebo standalone or a combination with SITL so both options are acceptable. Please let me know how to make it work.

Thanks in advance.

pattylo commented 1 month ago

Currently, we just use the PID controller from uuv_simulators, we haven't really perfected everything yet (modularization, documentation, and so forth). If you're in hurry, you can checkout this first.

Irrelev4nt13 commented 1 month ago

Thank you for replying!

I tried a lot of thing in the past month, however nothing fixed my problem.

I will provide more details in the problem and the things I tried:

I'm researching unmmaned underwater vehicles with a specialty in BlueROV2. However my lab is using a BlueROV2 Heavy configuration.

I have successfully setup your simulator for BlueROV2 heavy configuration (8 thrusters) but it lacks 6 DoF. I managed to make it work with 4 DoF.

I read the documentation and I saw then option for 6 DoF

full_dof (type: bool, default: False`): If True, the reference trajectory reference will be computed for 6 DoF, otherwise, 4 DoF (x, y, z, yaw). I enabled the parameter everywhere (in he PID Controller, Trajectory Generator etc) but it didn't make any difference.

Am I doing something wrong or the 6 DOF is not really implemented ?

Finally, I tried running the MPC controller but the python3 generate_c_code.py command didn't work, I have install both acados and the required libraries as you wrote in the doc but the program couldn't find acados_template that needs to be imported. Is there anything else I can try ?

Thanks in advance!

pattylo commented 1 month ago

Hi there.

As far as I am concerned, our MPC does not run on the script you referred to. I am guess that it is for visualization purposes. Might require @yahu3198 to confirm with this. Concerning the MPC code, you should be referring to this.

I think in our project, we mainly focused on 4-DoF control, and therefore, 6-DoF might not be dicussed in this repo.

Lastly, for the acados thing, do you mind sending some screenshots up here, so that we can have a better understading on your problem.

Thx!