Tune ISMC #32
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Tune ISMC #32
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evan-palmer
commented
Jun 24, 2023
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One main issue that I just noticed is that the Gazebo localizer is publishing poses to the ArduSub EKF in the wrong frame ( |
After following up on this, publishing the pose in the |
evan-palmer
commented
Jun 28, 2023
evan-palmer
added a commit
that referenced
this pull request
Jun 29, 2023
* started implementation of thruster dynamics * Finished initial implementation of bridge * Finished initial implementation of bridge * forgot to save * removed unused configs directory * Implement an interface to manage control of the thrusters (#9) * started porting bridge to base controller * continued base controller implementation * bedtime * Added parameter to control publish rate * Continued controller implementation and fixed docker errors * save point * reincluded bridge to separate concerns * continued base controller implementation * added linear velocity calculation * cleaned up lambdas and continued base controller * Started implementing vehicle dynamics * Continued vehicle dynamics implementation * Finished initial untested version of vehicle dynamics * Resolve initial bugs * Started working on unit testing the dynamics * i dont remember * Started implementing test cases and squashed some bugs * Finished vehicle dynamics test cases and added current effects * Added TCM and started thruster dynamics * Removed unrelevant files * Fixed comments * started implementation of manager * Removed unused packages and cleaned up manager implementation * Removed dynamics package as not in pr scope * Implemented and tested parameter backup procedure, started on passthrough mode enabling * Cleaned up implementation and started param backup service * Time for some video games baby * Removed unnecessary methods * Removed more unused methods * Added interface to stop thrusters and improve success rate of mode change command * Refactored to use multithreadedexecutor * Save point for golf * Finalized initial version * Resolved PR comments * Implement system hydrodynamics (#7) * started porting bridge to base controller * continued base controller implementation * bedtime * Added parameter to control publish rate * Continued controller implementation and fixed docker errors * save point * reincluded bridge to separate concerns * continued base controller implementation * added linear velocity calculation * cleaned up lambdas and continued base controller * Started implementing vehicle dynamics * Continued vehicle dynamics implementation * Finished initial untested version of vehicle dynamics * Resolve initial bugs * Started working on unit testing the dynamics * i dont remember * Started implementing test cases and squashed some bugs * Finished vehicle dynamics test cases and added current effects * Added TCM and started thruster dynamics * Removed unrelevant files * Fixed comments * Started refactoring to resolve pr comments * Continued PR refactor * Missing semicolon * found a pattern that makes sense * updated coriolis implementation * Finished refactor * Added docstrings * Adding back negative * Updated test cases * Removed unused dependencies * Removed irrelevant packages from dockerignore * fixed comment * Fixed comment spacing * Removed unused time derivatives * cleaned up documentation * Added deadzone formula * Implemented initial version of thrust surface * Fixed thruster model tests * Added docstrings * Resolved remaining PR comments * Implement a base controller and integral sliding mode controller (#10) * Implemented initial version of base controller * Fixed deps * Started implementation of ismc * Continued ismc implementation * Added service to arm and disarm controller * Fixed custom controllers build * use modernize bind * Resolved PR comments * Implement launch files (#16) * Started integration of launch files and updated dockerfile to properly install mavros * precommit * Added message interval client * Added vision pose plugin * Added docstrings * Fixed pr comments * Removed controller arming from manager (#17) * Port angler_localization to blue_localization (#18) * Ported angler_localization * Added localization package to dockerignore * Resolved controller bug and fixed dockerfile * Removed redundant install * Resolved PR comments * Integrate support for simulation with Gazebo and ArduSub (#23) * Started integrating ardusub and gazebo into dockerfile * Added Gazebo Garden installation to dockerfile * Added workspace.repos for models * added vcs import to devcontainer * Started blue description * Added ability to launch gz with models * Started to add ardusub process into launch * Added ros_gz and ardupilot bridge to enable sitl * Cleaned up for PR * Fixed codespell and ran linters * Resolved PR comments * Use tf2_eigen for msg conversions (#26) * Added tf2_eigen and switched dynamic matrices to fixed-size matrices * Resolved PR comments * Added thruster dynamics without battery state model (#27) * Started implementing thruster dynamics without battery state * Added thruster models without battery state * Tune ISMC and resolve coordinate frame issues (#32) * Started debugging controller * Added proportional gain and fixed missing initial conditions * Added gazebo localizer and fixed some more bugs * IT WORKS * Cleaned up comments and re-added heavy launch file * More bug fixes * Started cleanup * Continued cleanup and updated readme * Added support to run foxglove from launch * Renamed reference to twistaccelcmd * Started to resolve pr comments * WIP: tuning the controller for the bluerov2 base configuration * WIP: Im tired of this * WIP: resolved bugs in transforms and tcm * Final fixes for pr and added keyboard teleop * Resolve blue_control build errors (#38) * Resolved build issues and cleaned up utils * Resolved bugs in build and bluerov base config tcm * Removed negatives from zeros in the config files * Moved tf2 import to correct file
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Checklist
Changes Made
Bug fixes were made to the integral sliding mode controller. Additionally, the controller was tuned for both the BlueROV2 and BlueROV2 Heavy. Support was added to launch a Foxglove Studio connection and additional bug fixes were made.
Associated Issues
Testing
Integration and regression testing was performed in the SITL environment.