src::open_loop_controller::OpenLoopNode::OpenLoopNode

More...

Public Functions

	Name
def	init(self self)
def	load_params(self self)
def	initializeSubscribers(self self)
def	initializePublishers(self self)
def	timerCallback(self self, event event)
def	surgeCallback(self self, Float64 msg)
def	swayCallback(self self, Float64 msg)
def	heaveCallback(self self, Float64 msg)
def	yawRateCallback(self self, Float64 msg)
def	initializeTimer(self self)

Public Attributes

	Name
	h_timerActivate
	surge_desired
	sway_desired
	heave_desired
	yaw_rate_desired
	last_update
	node_frequency
	gain_Fx
	gain_Fy
	gain_Fz
	gain_Tz
	surge_sub
	sway_sub
	heave_sub
	yaw_rate_sub
	force_pub
	timer

Detailed Description

class src::open_loop_controller::OpenLoopNode::OpenLoopNode;

Remote controller ROS node class. Receives from a joystick (using pygame) the desired controls for
the inner-loops and publishes these periodically (at a pre-defined frequency) to the inner-loops of the
vehicle

Public Functions Documentation

function init

def __init__(
    self self
)

Class constructor. Initializes the ros node, loads the parameters from the ros parameter server, creates the inner-loops
publishers and initializes the timer that publishes the desired inputs to the inner-loops

function load_params

def load_params(
    self self
)

function initializeSubscribers

def initializeSubscribers(
    self self
)

function initializePublishers

def initializePublishers(
    self self
)

function timerCallback

def timerCallback(
    self self,
    event event
)

Callback used to publish to the inner-loops the desired control inputs
:param event: A timer event - unused but required by the ROS API

function surgeCallback

def surgeCallback(
    self self,
    Float64 msg
)

function swayCallback

def swayCallback(
    self self,
    Float64 msg
)

function heaveCallback

def heaveCallback(
    self self,
    Float64 msg
)

function yawRateCallback

def yawRateCallback(
    self self,
    Float64 msg
)

function initializeTimer

def initializeTimer(
    self self
)

Method that starts the system timer that periodically calls a callback

Public Attributes Documentation

variable h_timerActivate

h_timerActivate;

variable surge_desired

surge_desired;

variable sway_desired

sway_desired;

variable heave_desired

heave_desired;

variable yaw_rate_desired

yaw_rate_desired;

variable last_update

last_update;

variable node_frequency

node_frequency;

variable gain_Fx

gain_Fx;

variable gain_Fy

gain_Fy;

variable gain_Fz

gain_Fz;

variable gain_Tz

gain_Tz;

variable surge_sub

surge_sub;

variable sway_sub

sway_sub;

variable heave_sub

heave_sub;

variable yaw_rate_sub

yaw_rate_sub;

variable force_pub

force_pub;

variable timer

timer;

---

Updated on 2024-03-07 at 10:30:49 +0000

---

Last update: March 7, 2024