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waypoint node

In a nutshell

The waypoint node takes in the filtered state of the vehicle, as well as the Flag topic (see here for more information). It calculates and outputs the desired references to make the vehicle converge to the specified waypoint.

Diagram

waypoint Diagram

Subscribers

Subscribers msg type Purpose
/#vehicle#/Flag std_msgs/Int8 Flag that determines teh state of the vehicle (idle, following waypoint, path, etc.)
/#vehicle#/nav/filter/state auv_msgs/NavigationStatus Filtered state of the vehicle

Publishers

Publishers msg type Purpose
/#vehicle#/ref/surge std_msgs/Float64 Surge reference for vehicle to follow
/#vehicle#/ref/sway std_msgs/Float64 Sway reference for vehicle to follow
/#vehicle#/ref/yaw std_msgs/Float64 Yaw reference for vehicle to follow
/#vehicle#/ref/yaw_rate std_msgs/Float64 Yaw rate for vehicle to follow
/#vehicle#/Flag std_msgs/Int8 Flag that determines teh state of the vehicle (idle, following waypoint, path, etc.)

Services

Services msg type Purpose
/#vehicle#/controls/send_wp_standard waypoint/sendWpType1 Sends the waypoint position in x and y
/#vehicle#/controls/send_wp_loose waypoint/sendWpType1 Sends the waypoint position in x and y, while limiting the yaw rate to achieve larger turns
/#vehicle#/controls/send_wp_heading waypoint/sendWpType1 Send the waypoint position in x and y, as well as the a specific final yaw reference

Parameters

Parameters type Default Purpose
/#vehicle#/controls/outer_loops_controllers/waypoint/cdist float 1.5 Distance to waypoint to consider the vehicle reached it
/#vehicle#/controls/outer_loops_controllers/waypoint/delta_t float 5.0 Time it takes to traverse to the defined waypoint
/#vehicle#/controls/outer_loops_controllers/waypoint/type1/gains/ku float 1.0 u gain for loose waypoint control
/#vehicle#/controls/outer_loops_controllers/waypoint/type1/gains/ks float 4.0 s gain for loose waypoint control
/#vehicle#/controls/outer_loops_controllers/waypoint/type1/gains/speed_turn float 5.0 Max yaw rate to saturate for the loose waypoint turn
/#vehicle#/controls/outer_loops_controllers/waypoint/type2/gains/k1 float 0.05 k1 gain for standard waypoint control
/#vehicle#/controls/outer_loops_controllers/waypoint/type2/gains/k2 float 0.1 k2 gain for standard waypoint control
/#vehicle#/controls/outer_loops_controllers/waypoint/type2/gains/k3 float 0.1 k3 gain for standard waypoint control
/#vehicle#/controls/outer_loops_controllers/waypoint/node_frequency float 10.0 Working frequency of the node
Last update: November 23, 2022