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Asv simulation #187

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Asv simulation #187

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Commits on Apr 7, 2024

  1. Added plotting method choice

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  2. Added hybridpath plotting (old, doesn't work with new hp)

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  3. Added realtime simulator files

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Commits on Apr 28, 2024

  1. Set up python package, launch, lqr_config.yaml

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  2. Getting params from config file working

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  3. Added dampening D

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  4. WIP not working

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  5. Ivan stuff working in ROS2

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  6. Implemented Ivan LOS LQR in ROS2

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  7. Added los_guidance package

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  8. Added x_ref LOS calculation and Odometry

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  9. Added Odometry

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  10. WIP need to fix lqr

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  11. Fixed x_ref dimensions

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  12. Made package

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  13. WIP stuff

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  14. Vessel Simulator working, added giraffe

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  15. Updated giraffe message, added write np.array to file

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  16. Changed magic number to be like Ivan sim (still not work)

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  17. Edited points

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  18. Updated switching logic with line in front of endpoint, point subscri… 

    …ber in guidance, removed redundant linearization from asv_model, moved lqr control to state_cb in lqr_controller, fixed heading_ref in lqr
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  19. Fixed plotting points, removed ivansim

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  20. Add hybridpath_controller package files

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  21. Added adaptive backstepping controller and plotting

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  22. Added simulation function

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  23. Added hybridpath_guidance, updated hybridpath controller node

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  24. Seemingly working hybridpath_controller

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  25. Finished hybridpath simulator

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  26. Plotting works almost perfectly

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  27. Removed duplicate launch file, added READMEs, added docs and typehint… 

    …s, code quality stuff
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  28. Added default kappa value to AdaptiveBackstep

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  29. Added s_ reset when updating path in guidance

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  30. Added WIP unit test for hybridpath_controller control_law

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  31. Added working unit test for control law

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  32. Removed testing stuff and comments

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  33. Cleanup and made ready for testing.

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  34. Removed plotting function and example usage

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  35. Cleanup

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  36. Added return type for every function

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  37. Added type annotations

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  38. Added theory to README, and fixes to hybridpath

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  39. Updated README

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  40. Update README

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  41. Fixed README

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  42. Fix README

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  43. Fix README

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  44. Minor fixes

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  45. Minor name changes

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  46. Added theory in README

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  47. Fix link

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  48. Fix link

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  49. typo

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  50. Fix hybridpath guidance callback and readme

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  51. Removed plotting

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  52. Moved K1 and K2 to yaml

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  53. Merge branch 'hybridpath_to_CMakeLists'

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  54. Removed both simulators (to be readded at a later time)

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  55. Removed launch file for old LQR LOS simulator

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  56. Fixed asv_setup hybridpath nitpick

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  57. Fixed hp controller import parameters

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  58. Removed los_guidance

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  59. Removed old lqr_controller

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  60. Added otter inertia and damping matrices

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  61. Added coriolis matrix

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  62. Added source

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  63. Rewrite hybridpath

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  64. Fix node

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  65. Added update method for s

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  66. Fixes to hybridpath node

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  67. Initial test file

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  68. Fix node to publish vs and vss

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  69. Docstring for update_s method

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  70. Deleted lqr_controller package

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  71. Fixed import params from freya.yaml

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  72. Typo

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  73. Added source

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  74. Fixes to hybridpath

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  75. Added staticmethod odom_to_state

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  76. Fix odom_to_eta

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  77. Moved odom_to_eta to node

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  78. Added fixes to node

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  79. Fix update_s

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  80. Added mu tuning parameter to hp guidance

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  81. Added simulator support for foxglove realtime sim

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  82. Added matplotlib plotting, progress bar, giraffe

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  83. Added setting of waypoints in yaml file, removed giraffe

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  84. Added LQR_DP

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  85. Removed xref test, added email to package.xml

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  86. Added guidance callback for updating x_ref

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  87. Fixed guidance callback

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  88. Fixed guidance callback for DP

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