CyberShip Enterprise Software Suite

This software suite designed for to be used as a course material. It should not be taken as a basis for other projects as the software might change for the vehicle.

Crash course!

Do take a look at the Jupyter Notebooks inside and the code inside of the example_dummy package.

Installation

This package is designed for Python 3, ROS Noetic, and Ubuntu 20.04 (Focal). Before proceeding with the packages, please follow the installations for ROS and python.

1. Create a workspace

   mkdir -p ros_ws/src

2. Clone the repository inside the workspace

3. Install ROS dependencies

   rosdep install --from-paths src --ignore-src -r -y

4. After installation, install the required python packages.

   pip install numpy
   pip install scipy

5. If there is any problem with the instructions, create a github issue.

Topics

• topic: /qualisys/CSEI/odom

  type: nav_msgs/Odometry

  description: Holds the navigation data for the vehicle. Position and orientation

  $\eta = [x, y, \psi]^\top$

  • $x \iff$ pose.pose.position.x
  • $y \iff$ pose.pose.position.y
  • $psi \iff$ yaw angle

    [_, _, yaw] = common_tools.math_tools.quat2eul(
      pose.pose.orientation.x,
      pose.pose.orientation.y,
      pose.pose.orientation.z,
      pose.pose.orientation.w,
    )

• topic: /CSEI/u_cmd

  type: std_msgs/Float64MultiArray

  description: Control inputs for the actuators. It can be published by teleop node or your custom control node.

  $u_{cmd} = [u_1, u_2, u_3, \alpha_1, \alpha_2]^\top$

  • $u_1 \in [-1, 1]$, Controls the tunnel thruster
  • $u_2 \in [0, 1]$, Controls the force for port VSP thruster
  • $u_3 \in [0, 1]$, Controls the force for starboard VSP thruster
  • $\alpha_1 \in [-\pi, \pi]$, Controls the angle for port VSP thruster
  • $\alpha_2 \in [-\pi, \pi]$, Controls the angle for starboard VSP thruster

• topic: /CSEI/tau

  type: std_msgs/Float64MultiArray

  description: body fixed force. It is published by the simulator.

  $\tau = [f_x, f_y, \psi_z]^\top$

• topic: /joy

  type: sensor_msgs/Joy

  description: Joystick inputs

Custom Messages

• cse_messages/observer_message.msg

  float64[] eta
  float64[] nu
  float64[] bias
  

• cse_messages/reference_message.msg

  float64[] eta_d
  float64[] eta_ds
  float64[] eta_ds2
  float64 w
  float64 v_s
  float64 v_ss
  

• cse_messages/s_message.msg

  float64 s
  float64 s_dot
  

Glossary of variables

• $\eta \rightarrow$ State variable
• $u \rightarrow$ Control command
• $\tau \rightarrow$ Body fixed force