asv refactor (#202)

* Added LQR and PID DP

* Fixed topic names and initial tuning

* Made LQR and PID ready for testing

* Added QoS profile to seapath/odom subscription

* Added QoS profile

* Added yaw publisher

* .

* Added way to reinitialize waypoints through service call

* Enabled controller tuning of LQR and PID during runtime.

* sitaw merge

* Committing clang-format changes

* Working system after physical testing

* Wall update

Added functionality to map walls into the grid. Wall width mapped to grid is customizable through param in landmark server

* Committing clang-format changes

* qos fix

* Committing clang-format changes

* Add sim launch for freya

Signed-off-by: Christopher Strøm <[email protected]>

* docking task

control logic for the asv to navigate through the initial buoy formation of the docking task

* Committing clang-format changes

* Add controller to sim launch

Signed-off-by: Christopher Strøm <[email protected]>

* dynamic buoy prediction

* Committing clang-format changes

* njord task structure

Added base njord task node that other tasks will inherit from

* Committing clang-format changes

* auction algorithm fix

* Committing clang-format changes

* utility functions for task base

* Committing clang-format changes

* navigation task test ready

* Committing clang-format changes

* Concurrency setup change

* Committing clang-format changes

* bugfix in navigation, finished maneuvering

* Committing clang-format changes

* Map manager sim setup

Added option to use predef map origin to streamline test setups

* Committing clang-format changes

* Controller wont publish forces if the killswitch is on or system not in autonomous mode

* Added comminication with joystick and ability to set desired yaw angle and velocity.

* Removed spam, initialized y-button

* Raised max and min thrust

* Minor adjustments to heading tuning

* improved logging and behaviour for stationkeeping

* Added ability to set stationkeeping pose by pressing Y

* visualization fix

* Committing clang-format changes

* Set mu to zero such that the vessel can keep constant velocity more easely

* Added new list to waypoint node collection. 40 meters straight east

* colav task

* Committing clang-format changes

* thrust force and mapping

* fill landmark polygons

* Committing clang-format changes

* dock edge localization test

* Committing clang-format changes

* Update docstrings

* Cleanup

* Remove unused packages and files

* Remove unused files from install

* Updated waypoint service call example

* Boolean value for when the built in heading reference for the path should be used

* Removed commented code

* Removed unncecessary if else

* moved map-odom-tf to map_manager and added optional grid usage in landmark server

* Committing clang-format changes

* Add coriolis

* Remove old force mapping

* build fix

* refactor/update-docker (#195)

* docs: updated docker guide

* build(docker): added docker-ros submodule

* refactor(docker): removed .repos from dockerignore file

* refactor(repos): removed deprecated repositories and added vortex_msgs

* fix(waypoint_manager): fixed spelling mistake in package.xml

* fix(blackbox): added colcon_ignore

* feat(docker): added script for building and running docker images

* fix(landmark_server): added colcon_ignore

* refactor(package.xml): replaced every exec_depend with depend

* fix(joystick_interface): added joy package dependency to package.xml

---------

Co-authored-by: Andreas Kluge Svendsrud <[email protected]>

* Refactor/docker (#196)

* docs: added troubleshooting step to docker guide

* refactor(docker): commented out platform environment variable

* docs: enhanced troubleshooting step to docker guide

* refactor(docker): updated entrypoint script to use export for environment variables

---------

Co-authored-by: Andreas Kluge Svendsrud <[email protected]>

* refactor: move controller into control folder

* update gitignore

* refactor: general improvements to the packages

* refactor: thrust_allocator

* HUGE refactor

* refactor: dependencies

* cmakelists fix

* try to add std_srvs as dependency

* remove soon-to-be outdated tests to see if pipeline will be green

* refactor topics

* refactor: hybridpath

* formatting

* feat: hybridpath guidance action server

* System monitor node (#193)

* Add initial system monitor draft and lifeycle node management

Signed-off-by: Christopher Strøm <[email protected]>

* Committing clang-format changes

* Minor cleanup

Signed-off-by: Christopher Strøm <[email protected]>

* Actually use ping rate param

Signed-off-by: Christopher Strøm <[email protected]>

* Committing clang-format changes

* added seapath to system monitor ip list

* Remove setup.py and minor lifecycle callback changes

Signed-off-by: Christopher Strøm <[email protected]>

* Readd lost docstrings

Signed-off-by: Christopher Strøm <[email protected]>

* naming

* add rclcpp_lifecycle dependency

* fix (hopefully) test dependencies

---------

Signed-off-by: Christopher Strøm <[email protected]>
Co-authored-by: Clang Robot <[email protected]>
Co-authored-by: Alekskl <[email protected]>
Co-authored-by: Anders Høgden <[email protected]>

* docs: add additional repositories section to README

* refactor: get topics from config file

* refactor: joystick interface asv

* formatting

* Delete .gitmodules

* fix: remove docker-ros submodule

---------

Signed-off-by: Christopher Strøm <[email protected]>
Co-authored-by: Martin Huynh <[email protected]>
Co-authored-by: jorgenfj <[email protected]>
Co-authored-by: Clang Robot <[email protected]>
Co-authored-by: Christopher Strøm <[email protected]>
Co-authored-by: vortexuser <[email protected]>
Co-authored-by: Andreas Kluge Svendsrud <[email protected]>
Co-authored-by: Andreas Kluge Svendsrud <[email protected]>
Co-authored-by: Christopher Strøm <[email protected]>
Co-authored-by: Alekskl <[email protected]>
Co-authored-by: Vortex NTNU <[email protected]>

Author: 8 people