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Robotic-Decision-Making-Lab / auv_controllers

A collection of control algorithms for autonomous underwater vehicles implemented using ros2_control.
MIT License
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[FEATURE]: Implement a PID controller for velocity control #16

Open evan-palmer opened 6 months ago

evan-palmer commented 6 months ago

Feature Type

Adding new functionality to the project

Problem Description

A common baseline algorithm to benchmark new controllers against is PID control. It would be valuable to implement a simple PID velocity controller into the package.

Feature Description

Design a simple PID control algorithm to perform velocity control of a marine vehicle. This should be integrated and tested using a simulation environment (and preferably on hardware).

Alternative Solutions

N/A

Additional Context

N/A

evan-palmer commented 2 weeks ago

We shouldn't need to implement a custom PID velocity controller. The ros2_controllers PID controller should cover this functionality.

evan-palmer commented 2 weeks ago

Actually, this should stay open