Add Waypoint Marker and PID controller - Githubissues

ubc-subbots / triton

ROS2 system for the Triton AUV

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Add Waypoint Marker and PID controller #126

Closed Jared-Chan closed 1 year ago

Jared-Chan commented 1 year ago

New Features

PID Controller (Savitoj)
- Controls x, y, z, and yaw
- Configurable with YAML config files
Waypoint Marker
- Keeps track of targets and determines if a target is reached
- Publishes the error between AUV pose and target pose
- Supports two kinds of waypoints: pass through and stabilize
Tests
- Waypoint and PID test, detailed in the README of triton_gazebo

Fixes

Added the P3D plugin for simulation, because otherwise we cannot use the ground truth sensor for positioning
Fixed the thrust allocation matrix for the triton_auv model, two thrusters were swapped

TODO

Find out what is wrong with the IMU plugin/robot localization in Gazebo simulation that causes the AUV to think it is sinking
Make a new model with thrust allocation matrix for Steel-head/Triton Mini
Enable the linting in tests and fix all the lint errors