open_loop_controller
In a nutshell
The open_loop_controller node is, like it suggests, can be used as an alternative to the typical PID controllers implemented on the vehicles, depending only on the current input reference values.
Diagram
Subscribers
| Subscribers | 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/heave | std_msgs/Float64 | Heave reference for vehicle to follow |
| /#vehicle#/ref/yaw_rate | std_msgs/Float64 | Yaw rate for vehicle to follow |
Publishers
| Publishers | msg type | Purpose |
|---|---|---|
| /#vehicle#/thrust_body_request | auv_msgs/BodyForceRequest | Forces requested by the controller to the thrusters |
Services
- None
Parameters
| Parameters | type | Default | Purpose |
|---|---|---|---|
| /#vehicle#/controls/ope_loop_controller/gain_Fx | float | - | Gain for the force component in x |
| /#vehicle#/controls/open_loop_controller/gain_Fy | float | - | Gain for the force component in y |
| /#vehicle#/controls/open_loop_controller/gain_Fz | float | - | Gain for the force component in z |
| /#vehicle#/controls/open_loop_controller/gain_Tz | float | - | Gain for the torque component in z |
| /#vehicle#/controls/open_loop_controller/node_frequency | float | 10 | Working frequency of the node |
Last update:
December 9, 2022