static_thruster_allocation node
In a nutshell
Transforms the forces and torques of the inner loops controllers into percentage of RPM(revolution per minute).
Diagram
Subscribers
| Subscribers | msg type | Purpose |
|---|---|---|
| /#vehicle#/thrust_body_request | auv_msgs/BodyForceRequest | Thrust requested by the PID controllers |
Publishers
| Publishers | msg type | Purpose |
|---|---|---|
| /#vehicle#/thrusters/rpm_command | dsor_msgs/Thruster | RPM command asked to the thrusters |
Services
- None
Parameters
| Parameters | type | Default | Purpose |
|---|---|---|---|
| allocation_matrix | [0.707, -0.707, 0.0, -0.306, -0.062, 0.0, 0.707, 0.707, 0.0, -0.306, 0.062, 0.0, 0.000, 0.000, -1.0, -0.087, -0.120, 0.0, 0.000, 0.000, -1.0, -0.087, 0.120, 0.0, 0.707, 0.707, 0.0, 0.300, -0.197, -0.0, 0.707, -0.707, 0.0, 0.300, 0.197, -0.0] |
Forces and moments used to calculate the RPM commands | |
| ctf | [0.00000177778, 0.0, 0.0] | Seabotix parameters to calculate thruster force forward | |
| ctb | [-0.00000177778, 0.0, 0.0] | Seabotix parameters to calculate thruster force backward | |
| max_thrust_norm | 36.0 | Maxmimum force (N) a thruster can output | |
| min_thrust_norm | -36.0 | Minimum force (N) a thruster can output | |
| actuators_gain | [45.0, 45.0, 45.0, 45.0, 45.0, 45.0] | Gain to scale the output thrust into the actuators |
Last update:
November 23, 2022