This readme and most things in this package are not updated to work with smarc2 beyond "it builds". Only use this as an example of package configuration and nothing else!
Package containing the basic controllers for trim, thrust vectoring and buoyancy systems for the SAM AUV using ROS-PID.
To launch pid_manager, static trim and depth controllers, launch static_controllers.launch.
To launch cascaded heading and depth controllers, launch dynamic_controllers.launch after launching static_controllers.launch.
To activate the controllers call the following services (link) - set the value to "true" to engage and "false" to disable:
-
VBS static depth:
/sam/ctrl/toggle_vbs_ctrl -
LCG static pitch:
/sam/ctrl/toggle_pitch_ctrl -
VBS static altitude:
/sam/ctrl/toggle_vbs_alt_ctrl -
Yaw:
/sam/ctrl/toggle_yaw_ctrl -
Depth:
/sam/ctrl/toggle_depth_ctrl -
Altitude:
/sam/ctrl/toggle_altitude_ctrl -
Speed:
/sam/ctrl/toggle_speed_ctrl -
Roll:
/sam/ctrl/toggle_roll_ctrl -
(Static Roll TCG:
/sam/ctrl/toggle_tcg_ctrl) -
(Dynamic Pitch :
/sam/ctrl/toggle_dpitch_ctrl)
e.g. usage: rosservice call /sam/ctrl/toggle_vbs_ctrl "data: true"
TODO: Combine both controller launch files in one after further testing.