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vortexntnu / vortex-auv

Software for guidance, navigation and control for the Vortex AUVs. Purpose built for competing in AUV/ROV competitions.
https://www.vortexntnu.no/
MIT License
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Change dp controller inputs from actions server to topic #147

Closed chrstrom closed 3 years ago

chrstrom commented 3 years ago

Currently, the DP controller publishes a control vector whenever the odometry topic is published to. This should be changed to publish control vectors when guidance /reference model topic is published to. This in turn requires the action server input to be changed to a topic.

A service server for integral reset, integral turn on and off, needs to be added in conjuction with this.

Considerations: The "math" part of the controller should be as separated from the ROS layer as possible. This is mostly already in place for the dp controller (see controller_ros and quaternion_dp_controller), but is nice to keep in mind.

chrstrom commented 3 years ago

https://github.com/vortexntnu/Vortex-AUV/blob/bd2343b6a40d1108d2f8a1cd6e9e5f8c22d848bd/motion/dp_controller/src/quaternion_pd_controller.cpp#L44 The inputs for this function is what needs to be published on a topic.

chrstrom commented 3 years ago

!! Deadline: 28.03 !!

chrstrom commented 3 years ago

Closing this as the pooltest 3 overhaul included this