Control stack for AUV 4 and ASV 5.
Quickstart
Dependencies
Import source dependencies and install rosdep packages:
vcs import src < src/controls/.github/deps.repos
rosdep install --from-paths src --ignore-src -r -y
Install eigen-quadprog (not available via rosdep):
curl -1sLf 'https://dl.cloudsmith.io/public/mc-rtc/stable/setup.deb.sh' | sudo -E bash
sudo apt install libeigen-quadprog-dev
Launch
AUV
ros2 launch controls bbauv4_controller.launch.py cfg_file:=params_auv4.yml allocator_cfg_file:=6DOFauv4.yaml
ASV
ros2 launch controls bbasv5_controller.launch.py cfg_file:=params_asv5.yml allocator_cfg_file:=3DOFasv5.yaml
Further Reading
