auv_controller

auv_controller is a ROS package which implement a common slide controller for AUV with dynamic model.

slide model control

Controller integrated with slide model control algorithm in decoupled lateral and horizontal plane.

ROS nodes

1. reset_control_state_node
   node file: nodes/ResetCtrlStateClient.cpp
   Usage: rosrun auv_controller reset_ctrl_state
   : target state of AUV

2. armsauv_controller_test_node
   node file: nodes/ArmsAUVControllerTest.cpp
   Usage: rosrun auv_controller armsauv_controller_test_node

3. auv_controller_test_node
   node file: nodes/AUVControllerTest.cpp
   Usage: rosrun auv_controller auv_controller_test_node <no_ff>
   <no_ff>: launch model without front fins, arg should be string 'no_ff'
   : launch model with X type rudder, arg should be string 'x'
   : launch model in debug mode, arg should be string 'debug'

4. auv_pid_controller_test_node
   node file: nodes/AUVPIDControllerTest.cpp
   Usage: rosrun auv_controller auv_pid_controller_test_node <no_ff> <no_ff>: launch model without front fins, arg should be string 'no_ff'
   : launch model with X type rudder, arg should be string 'x'
   : launch model in debug mode, arg should be string 'debug'

5. auv_traj_follow_manager_node
   node file: nodes/AUVTrajFollowMissionNode.cpp
   Usage: rosrun auv_controller auv_traj_follow_manager_node <auv_ns> <no_ff>
   <auv_ns>: namespace of AUV model
   <no_ff>: launch model without front fins, arg should be string 'no_ff'
   : launch model with X type rudder, arg should be string 'x'
   : launch model in debug mode, arg should be string 'debug'

6. auv_ctrlmsgs_recorder_node
   node file: nodes/AUVCtrlMsgsRecordNode.cpp
   Usage: rosrun auv_ctrlmsgs_recorder

7. async_tcp_client_test_node
   node file: nodes/async_tcp_client_test_node Usage: rosrun async_tcp_client_test_node
   : IP of TCP server
   : Port of TCP server

8. async_tcp_server_test_node
   node file: nodes/async_tcp_server_test_node
   Usage: rosrun async_tcp_server_test_node
   : Listen port of TCP server