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Asv simulation #187

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573263b
Added plotting method choice
Mokaz Apr 7, 2024
cb30acf
Added hybridpath plotting (old, doesn't work with new hp)
Mokaz Apr 7, 2024
b0aac02
Added realtime simulator files
Mokaz Apr 7, 2024
9eaf96b
Set up python package, launch, lqr_config.yaml
vortexuser Jan 8, 2024
08f1d2c
Getting params from config file working
vortexuser Jan 8, 2024
00e8f56
Added dampening D
vortexuser Jan 8, 2024
a40004d
WIP not working
vortexuser Jan 8, 2024
63b1dc1
Ivan stuff working in ROS2
vortexuser Jan 9, 2024
63beabe
Implemented Ivan LOS LQR in ROS2
vortexuser Jan 9, 2024
3a52888
Added los_guidance package
vortexuser Jan 9, 2024
1a2446f
Added x_ref LOS calculation and Odometry
vortexuser Jan 9, 2024
9e15d0d
Added Odometry
vortexuser Jan 9, 2024
0af90b6
WIP need to fix lqr
vortexuser Jan 10, 2024
4ed491e
Fixed x_ref dimensions
vortexuser Jan 11, 2024
f050c64
Made package
vortexuser Jan 11, 2024
15a8416
WIP stuff
vortexuser Jan 12, 2024
e7c428b
Vessel Simulator working, added giraffe
Mokaz Jan 21, 2024
ecb6487
Updated giraffe message, added write np.array to file
Mokaz Jan 21, 2024
934a13a
Changed magic number to be like Ivan sim (still not work)
Mokaz Jan 24, 2024
be8c70f
Edited points
Mokaz Jan 25, 2024
1a29a28
Updated switching logic with line in front of endpoint, point subscri…
Jan 28, 2024
26c085f
Fixed plotting points, removed ivansim
Mokaz Feb 4, 2024
1d772d0
Add hybridpath_controller package files
Mokaz Feb 14, 2024
e1df116
Added adaptive backstepping controller and plotting
Mokaz Feb 18, 2024
be786be
Added simulation function
Mokaz Feb 18, 2024
4348843
Added hybridpath_guidance, updated hybridpath controller node
Mokaz Feb 25, 2024
5c8543c
Seemingly working hybridpath_controller
Mokaz Feb 28, 2024
b93be23
Finished hybridpath simulator
Mokaz Mar 5, 2024
1d3b6ae
Plotting works almost perfectly
Mokaz Mar 8, 2024
93b8ddc
Removed duplicate launch file, added READMEs, added docs and typehint…
Mokaz Mar 10, 2024
a0d930c
Added default kappa value to AdaptiveBackstep
Mokaz Mar 10, 2024
95c847d
Added s_ reset when updating path in guidance
Mokaz Mar 10, 2024
ab3d76c
Added WIP unit test for hybridpath_controller control_law
Mokaz Mar 10, 2024
ee3b9ee
Added working unit test for control law
Mokaz Mar 10, 2024
cba7dd2
Removed testing stuff and comments
Mokaz Mar 10, 2024
4388c52
Cleanup and made ready for testing.
Andeshog Mar 21, 2024
e695dc5
Removed plotting function and example usage
Andeshog Mar 21, 2024
f0505b5
Cleanup
Andeshog Mar 21, 2024
decf3d7
Added return type for every function
Andeshog Mar 21, 2024
fa9bcb9
Added type annotations
Andeshog Mar 21, 2024
d415572
Added theory to README, and fixes to hybridpath
Andeshog Mar 22, 2024
85a0497
Updated README
Andeshog Mar 22, 2024
48a526d
Update README
Andeshog Mar 22, 2024
c49dd05
Fixed README
Andeshog Mar 22, 2024
747a383
Fix README
Andeshog Mar 22, 2024
7710d81
Fix README
Andeshog Mar 22, 2024
ff47eec
Minor fixes
Andeshog Mar 23, 2024
d943b2e
Minor name changes
Andeshog Mar 23, 2024
3c22764
Added theory in README
Andeshog Mar 23, 2024
cb3e04d
Fix link
Andeshog Mar 23, 2024
4d79388
Fix link
Andeshog Mar 23, 2024
227631b
typo
Andeshog Mar 23, 2024
194edce
Fix hybridpath guidance callback and readme
Andeshog Mar 27, 2024
8fddd14
Removed plotting
Andeshog Mar 28, 2024
4dee062
Moved K1 and K2 to yaml
Andeshog Mar 28, 2024
ae0f8e7
Merge branch 'hybridpath_to_CMakeLists'
Mokaz Mar 28, 2024
38c3980
Removed both simulators (to be readded at a later time)
Mokaz Mar 28, 2024
836def7
Removed launch file for old LQR LOS simulator
Mokaz Mar 28, 2024
0c63b7b
Fixed asv_setup hybridpath nitpick
Mokaz Apr 3, 2024
31e3383
Fixed hp controller import parameters
Mokaz Apr 3, 2024
2304101
Removed los_guidance
Mokaz Apr 3, 2024
46d376e
Removed old lqr_controller
Mokaz Apr 7, 2024
476762e
Added otter inertia and damping matrices
Andeshog Apr 7, 2024
d47b221
Added coriolis matrix
Andeshog Apr 7, 2024
6346324
Added source
Andeshog Apr 11, 2024
4ab359d
Rewrite hybridpath
Andeshog Apr 11, 2024
f3267b5
Fix node
Andeshog Apr 11, 2024
e26a289
Added update method for s
Andeshog Apr 11, 2024
2ff38ee
Fixes to hybridpath node
Andeshog Apr 11, 2024
0f5cf9d
Initial test file
Andeshog Apr 11, 2024
3f324b9
Fix node to publish vs and vss
Andeshog Apr 11, 2024
8a7c254
Docstring for update_s method
Andeshog Apr 11, 2024
2ac9cf9
Deleted lqr_controller package
Mokaz Apr 14, 2024
e7fbf97
Fixed import params from freya.yaml
Mokaz Apr 14, 2024
d2306ef
Typo
Andeshog Apr 11, 2024
3a8b234
Added source
Andeshog Apr 14, 2024
a620171
Fixes to hybridpath
Andeshog Apr 14, 2024
9f8658d
Added staticmethod odom_to_state
Andeshog Apr 14, 2024
3d9b350
Fix odom_to_eta
Andeshog Apr 14, 2024
a6e0299
Moved odom_to_eta to node
Andeshog Apr 14, 2024
25bab02
Added fixes to node
Andeshog Apr 14, 2024
c4b0475
Fix update_s
Andeshog Apr 14, 2024
c1cd708
Added mu tuning parameter to hp guidance
Mokaz Apr 14, 2024
377a20e
Added simulator support for foxglove realtime sim
Mokaz Apr 14, 2024
580fa42
Added matplotlib plotting, progress bar, giraffe
Mokaz Apr 15, 2024
8ae411f
Added setting of waypoints in yaml file, removed giraffe
Mokaz Apr 21, 2024
385b96c
Added LQR_DP
Mokaz Apr 22, 2024
26d26be
Removed xref test, added email to package.xml
Mokaz Apr 26, 2024
4df1d84
Added guidance callback for updating x_ref
Mokaz Apr 26, 2024
0026c06
Fixed guidance callback
Mokaz Apr 27, 2024
1056e4f
Fixed guidance callback for DP
Mokaz Apr 28, 2024
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Fix node to publish vs and vss
Andeshog authored and Mokaz committed Apr 28, 2024
commit 3f324b91c646c8517ecad3c773db99f5196cce7c
Original file line number Diff line number Diff line change
@@ -68,6 +68,10 @@ def guidance_callback(self):
hp_msg.eta_d_s = hp_eta_d
hp_msg.eta_d_ss = hp_eta_dd

hp_msg.w = 0.0
hp_msg.v_s = signals.get_vs(self.u_desired)
hp_msg.v_ss = signals.get_vs_derivative(self.u_desired)

self.guidance_publisher.publish(hp_msg)

if self.s >= self.path.NumSubpaths: