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Asv simulation #187

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Asv simulation #187

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Mokaz
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@Mokaz Mokaz commented Apr 26, 2024 •
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  • 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:

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

@Mokaz Mokaz requested a review from alekskl01 April 26, 2024 16:56
@Mokaz Mokaz self-assigned this Apr 26, 2024
@Mokaz Mokaz linked an issue Apr 26, 2024 that may be closed by this pull request
[TASK] Low-fidelity vessel simulator #116
Open
8 tasks
vortexuser and others added 24 commits April 28, 2024 14:02
@vortexuser @Mokaz
Set up python package, launch, lqr_config.yaml
9eaf96b
@vortexuser @Mokaz
Getting params from config file working
08f1d2c
@vortexuser @Mokaz
Added dampening D
00e8f56
@vortexuser @Mokaz
WIP not working
a40004d
@vortexuser @Mokaz
Ivan stuff working in ROS2
63b1dc1
@vortexuser @Mokaz
Implemented Ivan LOS LQR in ROS2
63beabe
@vortexuser @Mokaz
Added los_guidance package
3a52888
@vortexuser @Mokaz
Added x_ref LOS calculation and Odometry
1a2446f
@vortexuser @Mokaz
Added Odometry
9e15d0d
@vortexuser @Mokaz
WIP need to fix lqr
0af90b6
@vortexuser @Mokaz
Fixed x_ref dimensions
4ed491e
@vortexuser @Mokaz
Made package
f050c64
@vortexuser @Mokaz
WIP stuff
15a8416
@Mokaz
Vessel Simulator working, added giraffe
e7c428b
@Mokaz
Updated giraffe message, added write np.array to file
ecb6487
@Mokaz
Changed magic number to be like Ivan sim (still not work)
934a13a
@Mokaz
Edited points
be8c70f
@Mokaz
Updated switching logic with line in front of endpoint, point subscri…
1a29a28 
…ber in guidance, removed redundant linearization from asv_model, moved lqr control to state_cb in lqr_controller, fixed heading_ref in lqr
@Mokaz
Fixed plotting points, removed ivansim
26c085f
@Mokaz
Add hybridpath_controller package files
1d772d0
@Mokaz
Added adaptive backstepping controller and plotting
e1df116
@Mokaz
Added simulation function
be786be
@Mokaz
Added hybridpath_guidance, updated hybridpath controller node
4348843
@Mokaz
Seemingly working hybridpath_controller
5c8543c
Andeshog and others added 28 commits April 28, 2024 14:02
@Andeshog @Mokaz
Added otter inertia and damping matrices
476762e
@Andeshog @Mokaz
Added coriolis matrix
d47b221
@Andeshog @Mokaz
Added source
6346324
@Andeshog @Mokaz
Rewrite hybridpath
4ab359d
@Andeshog @Mokaz
Fix node
f3267b5
@Andeshog @Mokaz
Added update method for s
e26a289
@Andeshog @Mokaz
Fixes to hybridpath node
2ff38ee
@Andeshog @Mokaz
Initial test file
0f5cf9d
@Andeshog @Mokaz
Fix node to publish vs and vss
3f324b9
@Andeshog @Mokaz
Docstring for update_s method
8a7c254
@Mokaz
Deleted lqr_controller package
2ac9cf9
@Mokaz
Fixed import params from freya.yaml
e7fbf97
@Andeshog @Mokaz
Typo
d2306ef
@Andeshog @Mokaz
Added source
3a8b234
@Andeshog @Mokaz
Fixes to hybridpath
a620171
@Andeshog @Mokaz
Added staticmethod odom_to_state
9f8658d
@Andeshog @Mokaz
Fix odom_to_eta
3d9b350
@Andeshog @Mokaz
Moved odom_to_eta to node
a6e0299
@Andeshog @Mokaz
Added fixes to node
25bab02
@Andeshog @Mokaz
Fix update_s
c4b0475
@Mokaz
Added mu tuning parameter to hp guidance
c1cd708
@Mokaz
Added simulator support for foxglove realtime sim
377a20e
@Mokaz
Added matplotlib plotting, progress bar, giraffe
580fa42
@Mokaz
Added setting of waypoints in yaml file, removed giraffe
8ae411f
@Mokaz
Added LQR_DP
385b96c
@Mokaz
Removed xref test, added email to package.xml
26d26be
@Mokaz
Added guidance callback for updating x_ref
4df1d84
@Mokaz
Fixed guidance callback
0026c06
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@alekskl01 alekskl01 Awaiting requested review from alekskl01

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[TASK] Low-fidelity vessel simulator
3 participants
@Mokaz @vortexuser @Andeshog