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Asv simulation#187

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Mokaz wants to merge 91 commits intodevelopmentvortexntnu/vortex-asv:developmentfrom asv_simulationvortexntnu/vortex-asv:asv_simulationCopy head branch name to clipboard

+2,385

Commits

Commits on Apr 7, 2024

• Added plotting method choice

  Mokaz

  committed
  573263b

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

  Mokaz

  committed
  cb30acf

• Added realtime simulator files

  Mokaz

  committed
  b0aac02

Commits on Apr 28, 2024

• Set up python package, launch, lqr_config.yaml

  

  vortexuser

  authored and

  Mokaz

  committed
  9eaf96b

• Getting params from config file working

  

  vortexuser

  authored and

  Mokaz

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  08f1d2c

• Added dampening D

  

  vortexuser

  authored and

  Mokaz

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  00e8f56

• WIP not working

  

  vortexuser

  authored and

  Mokaz

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  a40004d

• Ivan stuff working in ROS2

  

  vortexuser

  authored and

  Mokaz

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  63b1dc1

• Implemented Ivan LOS LQR in ROS2

  

  vortexuser

  authored and

  Mokaz

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  63beabe

• Added los_guidance package

  

  vortexuser

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  Mokaz

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  3a52888

• Added x_ref LOS calculation and Odometry

  

  vortexuser

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  Mokaz

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  1a2446f

• Added Odometry

  

  vortexuser

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  Mokaz

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  9e15d0d

• WIP need to fix lqr

  

  vortexuser

  authored and

  Mokaz

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  0af90b6

• Fixed x_ref dimensions

  

  vortexuser

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  Mokaz

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  4ed491e

• Made package

  

  vortexuser

  authored and

  Mokaz

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  f050c64

• WIP stuff

  

  vortexuser

  authored and

  Mokaz

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  15a8416

• Vessel Simulator working, added giraffe

  Mokaz

  committed
  e7c428b

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

  Mokaz

  committed
  ecb6487

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

  Mokaz

  committed
  934a13a

• Edited points

  Mokaz

  committed
  be8c70f

• Updated switching logic with line in front of endpoint, point subscriber in guidance, removed redundant linearization from asv_model, moved lqr control to state_cb in lqr_controller, fixed heading_…

  Show description for 1a29a28
  

  Aldokan

  authored and

  Mokaz

  committed
  1a29a28

• Fixed plotting points, removed ivansim

  Mokaz

  committed
  26c085f

• Add hybridpath_controller package files

  Mokaz

  committed
  1d772d0

• Added adaptive backstepping controller and plotting

  Mokaz

  committed
  e1df116

• Added simulation function

  Mokaz

  committed
  be786be

• Added hybridpath_guidance, updated hybridpath controller node

  Mokaz

  committed
  4348843

• Seemingly working hybridpath_controller

  Mokaz

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  5c8543c

• Finished hybridpath simulator

  Mokaz

  committed
  b93be23

• Plotting works almost perfectly

  Mokaz

  committed
  1d3b6ae

• Removed duplicate launch file, added READMEs, added docs and typehints, code quality stuff

  Mokaz

  committed
  93b8ddc

• Added default kappa value to AdaptiveBackstep

  Mokaz

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  a0d930c

• Added s_ reset when updating path in guidance

  Mokaz

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  95c847d

• Added WIP unit test for hybridpath_controller control_law

  Mokaz

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  ab3d76c

• Added working unit test for control law

  Mokaz

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  ee3b9ee

• Removed testing stuff and comments

  Mokaz

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  cba7dd2

• Cleanup and made ready for testing.

  

  Andeshog

  authored and

  Mokaz

  committed
  4388c52

• Removed plotting function and example usage

  

  Andeshog

  authored and

  Mokaz

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  e695dc5

• Cleanup

  

  Andeshog

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  Mokaz

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  f0505b5

• Added return type for every function

  

  Andeshog

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  Mokaz

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  decf3d7

• Added type annotations

  

  Andeshog

  authored and

  Mokaz

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  fa9bcb9

• Added theory to README, and fixes to hybridpath

  

  Andeshog

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  Mokaz

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  d415572

• Updated README

  

  Andeshog

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  Mokaz

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  85a0497

• Update README

  

  Andeshog

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  Mokaz

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  48a526d

• Fixed README

  

  Andeshog

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  Mokaz

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  c49dd05

• Fix README

  

  Andeshog

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  Mokaz

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  747a383

• Fix README

  

  Andeshog

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  Mokaz

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  7710d81

• Minor fixes

  

  Andeshog

  authored and

  Mokaz

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  ff47eec

• Minor name changes

  

  Andeshog

  authored and

  Mokaz

  committed
  d943b2e

• Added theory in README

  

  Andeshog

  authored and

  Mokaz

  committed
  3c22764

• Fix link

  

  Andeshog

  authored and

  Mokaz

  committed
  cb3e04d

• Fix link

  

  Andeshog

  authored and

  Mokaz

  committed
  4d79388

• typo

  

  Andeshog

  authored and

  Mokaz

  committed
  227631b

• Fix hybridpath guidance callback and readme

  

  Andeshog

  authored and

  Mokaz

  committed
  194edce

• Removed plotting

  

  Andeshog

  authored and

  Mokaz

  committed
  8fddd14

• Moved K1 and K2 to yaml

  

  Andeshog

  authored and

  Mokaz

  committed
  4dee062

• Merge branch 'hybridpath_to_CMakeLists'

  Mokaz

  committed
  ae0f8e7

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

  Mokaz

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  38c3980

• Removed launch file for old LQR LOS simulator

  Mokaz

  committed
  836def7

• Fixed asv_setup hybridpath nitpick

  Mokaz

  committed
  0c63b7b

• Fixed hp controller import parameters

  Mokaz

  committed
  31e3383

• Removed los_guidance

  Mokaz

  committed
  2304101

• Removed old lqr_controller

  Mokaz

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  46d376e

• Added otter inertia and damping matrices

  

  Andeshog

  authored and

  Mokaz

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  476762e

• Added coriolis matrix

  

  Andeshog

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  Mokaz

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  d47b221

• Added source

  

  Andeshog

  authored and

  Mokaz

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  6346324

• Rewrite hybridpath

  

  Andeshog

  authored and

  Mokaz

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  4ab359d

• Fix node

  

  Andeshog

  authored and

  Mokaz

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  f3267b5

• Added update method for s

  

  Andeshog

  authored and

  Mokaz

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  e26a289

• Fixes to hybridpath node

  

  Andeshog

  authored and

  Mokaz

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  2ff38ee

• Initial test file

  

  Andeshog

  authored and

  Mokaz

  committed
  0f5cf9d

• Fix node to publish vs and vss

  

  Andeshog

  authored and

  Mokaz

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  3f324b9

• Docstring for update_s method

  

  Andeshog

  authored and

  Mokaz

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  8a7c254

• Deleted lqr_controller package

  Mokaz

  committed
  2ac9cf9

• Fixed import params from freya.yaml

  Mokaz

  committed
  e7fbf97

• Typo

  

  Andeshog

  authored and

  Mokaz

  committed
  d2306ef

• Added source

  

  Andeshog

  authored and

  Mokaz

  committed
  3a8b234

• Fixes to hybridpath

  

  Andeshog

  authored and

  Mokaz

  committed
  a620171

• Added staticmethod odom_to_state

  

  Andeshog

  authored and

  Mokaz

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  9f8658d

• Fix odom_to_eta

  

  Andeshog

  authored and

  Mokaz

  committed
  3d9b350

• Moved odom_to_eta to node

  

  Andeshog

  authored and

  Mokaz

  committed
  a6e0299

• Added fixes to node

  

  Andeshog

  authored and

  Mokaz

  committed
  25bab02

• Fix update_s

  

  Andeshog

  authored and

  Mokaz

  committed
  c4b0475

• Added mu tuning parameter to hp guidance

  Mokaz

  committed
  c1cd708

• Added simulator support for foxglove realtime sim

  Mokaz

  committed
  377a20e

• Added matplotlib plotting, progress bar, giraffe

  Mokaz

  committed
  580fa42

• Added setting of waypoints in yaml file, removed giraffe

  Mokaz

  committed
  8ae411f

• Added LQR_DP

  Mokaz

  committed
  385b96c

• Removed xref test, added email to package.xml

  Mokaz

  committed
  26d26be

• Added guidance callback for updating x_ref

  Mokaz

  committed
  4df1d84

• Fixed guidance callback

  Mokaz

  committed
  0026c06

• Fixed guidance callback for DP

  Mokaz

  committed
  1056e4f