Proposed ROS framework for the operation of a dynamic positioning capable ASV.
Package contains many (now defunct) nodes and scripts, so pay attention.
Use asv_launch as the main launching platform. Separate launch files can be in other packages, just use the include tag.
Make sure you have installed the full desktop version if you want to visualise the simulation.
Make sure to install the pid package: sudo apt-get install ros-indigo-pid
Make sure to execute catkin_make in the workspace directory (to build the packages).
For a dynamic positioning simulation (calm water), run the following:
roslaunch asv_launch sim.launch
In the visualisation panel, use the "2D Nav Goal" tool to click and drag out a position + orientation for the ASV to align itself to. Use the "2D Pose Estimate" tool to click and drag out a position + orientation for the ASV to teleport to.
The following nodes will help you understand the underlying process:
Position Hold Controller: rosed asv_control hold_position.py
Thrust Allocation: rosed asv_control thruster_allocator.py
Simulator: rosed asv_control nav_sim.py