<feat> implemented Liner Quadratic Regulator #500
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Andeshog
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Nov 10, 2024
control/velocity_controller_lqr/config/param_velocity_controller_lqr.yaml
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Talhanc
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control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
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kluge7
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kluge7
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kluge7
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control/velocity_controller_lqr/tests/test_velocity_controller_lqr.py
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Andeshog
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Andeshog
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Jan 6, 2025
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| ros__parameters: | ||
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| #topic parameters | ||
| odom_topic: /nucleus/odom | ||
| guidance_topic: /guidance/los | ||
| thrust_topic: /thrust/wrench_input | ||
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| #LQR parameters | ||
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| q_surge: 75 | ||
| q_pitch: 175 | ||
| q_yaw: 175 | ||
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| r_surge: 0.3 | ||
| r_pitch: 0.4 | ||
| r_yaw: 0.4 | ||
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| i_surge: 0.3 | ||
| i_pitch: 0.4 | ||
| i_yaw: 0.3 | ||
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| i_weight: 0.5 | ||
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| inertia_matrix: [30.0, 0.6, 0.0, 0.6, 1.629, 0.0, 0.0, 0.0, 1.729] | ||
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| #Clamp parameter | ||
| max_force: 99.5 |
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Here you could do something like
ros__parameters:
topics:
odom_topic: ...
...
LQR_params:
q_surge: ...
...
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| # ---------------------------------------------------------------Main Function--------------------------------------------------------------- | ||
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Andeshog
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Jan 8, 2025
control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
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Andeshog
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Jan 8, 2025
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| if self.controller.killswitch == False: | ||
| if self.controller.operation_mode == "autonomous mode": | ||
| self.publisherLQR.publish(msg) | ||
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| else: | ||
| self.controller.reset_controller() | ||
| else: | ||
| self.controller.reset_controller() |
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Fixed everything, AUV works flawlessly now.