This software suite designed for to be used as a course material. It should not be taken as a basis for other projects as the software might change for the vehicle.

This package is designed for Python 3, ROS Humble, and Ubuntu 22.04 (Focal). Before proceeding with the packages, please follow the installations for ROS and python.

1. Create a workspace

   mkdir -p ros_ws/src

2. Clone the repository inside the workspace

3. Install ROS dependencies

   rosdep install --from-paths src --ignore-src -r -y

4. After installation, install the required python packages.

   pip install numpy
   pip install scipy

5. If there is any problem with the instructions, create a github issue.

The package is updated with git command.

ros2 launch tmr4243_utilities utilities.simulation.launch.py

See the simulation

• topic: /CSEI/control/eta

  type: std_msgs/msg/Float32Multiarray

  description: Holds the navigation data for the vehicle. Position and orientation

  $\eta = [x, y, \psi]^\top$

• topic: /CSEI/control/u_cmd

  type: std_msgs/msg/Float64MultiArray

  description: Control inputs for the actuators. It can be published by teleop node or your custom control node.

  $u_{cmd} = [u_0, u_1, u_2, \alpha_1, \alpha_2]^\top$

  • $u_0 \in [-1, 1]$, Controls the force of the tunnel thruster
  • $u_1 \in [0, 1]$, Controls the force of the port VSP thruster
  • $u_2 \in [0, 1]$, Controls the force of the starboard VSP thruster
  • $\alpha_1 \in [-\pi, \pi]$, Controls the force direction for port VSP thruster
  • $\alpha_2 \in [-\pi, \pi]$, Controls the force direction for starboard VSP thruster

• topic: /CSEI/control/tau

  type: std_msgs/msg/Float64MultiArray

  description: body fixed force. It is published by the simulator.

  $\tau = [F_x, F_y, M_z]^\top$

• topic: /joy

  type: sensor_msgs/msg/Joy

  description: Joystick inputs

• tmr4243_interfaces/msg/observer.msg

  float64[] eta
  float64[] nu
  float64[] bias
  

• tmr4243_interfaces/msg/reference.msg

  float64[] eta_d
  float64[] eta_ds
  float64[] eta_ds2
  float64 w
  float64 v_s
  float64 v_ss
  

• tmr4243_interfaces/msg/s.msg

  float64 s
  float64 s_dot
  

• $\eta \rightarrow$ State variable
• $u \rightarrow$ Control command
• $\tau \rightarrow$ Body fixed force