Asv simulation - Githubissues

vortexntnu / vortex-asv

GNC for the Vortex ASV. Purpose built for competing in ASV competitions.

MIT License

7 stars 0 forks source link

Asv simulation #187

Open Mokaz opened 7 months ago

Mokaz commented 7 months ago

Supports visualization in foxglove (on by default)
Togglable options in YAML file:
- Plotting with matplotlib
- Publishing to the waypoint service for use with hybridpath controller and guidance

Note that this branch also contains the LQR DP controller (the newest one)

How to use:

Start controller of choice
Configure YAML file for simulation options
Launch asv_simulation with launch file
Use Foxglove/plotjuggler/matplotlib to see results of simulation. How to visualize in Foxglove