Skip to content

Preliminary Resolution for #425 update low level control node #445

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom
Open
wants to merge 33 commits into
base: main
Choose a base branch
from
Open

Preliminary Resolution for #425 update low level control node #445

wants to merge 33 commits into from

Conversation

alberto-escobar
Copy link
Contributor

@alberto-escobar alberto-escobar commented Oct 26, 2024 •
edited
Loading

Description

Verification

  • tested using mock data node and logger to see how controller behaves. Results posted in screenshot below.

Resources

  • N/A

alberto-escobar and others added 8 commits September 17, 2024 10:56
@alberto-escobar
preliminary implementation, no testing done
83a9841
@eomielan @alberto-escobar
Simulator dimension mismatches & fluid generation config (#435)
c29c03c 
* Fix issues in model and physics node

* Fix dimension mismatching

* Fix comments for constants

* Allow wind & current generation config

* Allow config of fluid cov in globals.yaml

* Prevent data collection from making file when not in use

* Fix formatting issues with README for ci

* Update fluid generation unit tests
@SPDonaghy @alberto-escobar
Land Data Generator Script (#434)
3964bd0 
* brought in changes from old branch

* updated pkg xml with required dependencies

* updated pkg xml and requirements

* added jupyter notebook, ignore array type in obstacles

* updated license info

* updated script to apply consistent 12.5NM buffer

* printing heads

* ended friendship with shapefile, friends with geojson now

* removed geopandas and fiona!

* some metadata changes to notebook

* implemented buffer amount, its set at 5000 meters right now

* updated generation to include buffer

* metadata

---------

Co-authored-by: Sean Donaghy <seanpnd@student.ubc.ca>
@JordanChen123 @alberto-escobar
production db setup (#437)
a3337c6
@lross03 @alberto-escobar
Implemented power mode frame and ROS callbacks send data to CAN (#428)
420e27c
@alberto-escobar
Fixed minor bug in getting current_heading for rudder_actuation_routine
593fe37
@alberto-escobar
Merge branch 'main' into alberto-escobar/425-update-low-level-control…
acc685d 
…-node
@alberto-escobar
fixed some minor issues with getting values from goal_handler and par…
084b7b2 
…ameters
@alberto-escobar alberto-escobar linked an issue Oct 26, 2024 that may be closed by this pull request
Update low level control node with implemented controllers #425
Open
@alberto-escobar
Copy link
Contributor Author

alberto-escobar commented Jan 12, 2025 •
edited
Loading

note to self: mock data node implement, update branch and then can test out my implementation using the following command
ros2 launch boat_simulator main_launch.py enable-mock-data:=true

@alberto-escobar
Copy link
Contributor Author

alberto-escobar commented Mar 8, 2025 •
edited
Loading

image
This is my test, the warn statements were used to help with visibility but have changed to debug statements now.

Whenever new desired_heading or sail_cmd is published, the actuation routines run and the controllers calculate new values for the trim tab angle and rudder angle.

@alberto-escobar
Copy link
Contributor Author

alberto-escobar commented Mar 9, 2025 •
edited
Loading

Actuation routines are still working after last few commits I added.

eomielan
eomielan reviewed Mar 29, 2025
View reviewed changes
Copy link
Member

@eomielan eomielan left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Looks good, just want to double check control_speed calculation and then I'll approve

@FireBoyAJ24 FireBoyAJ24 added the sim Boat Simulator team label Apr 2, 2025
@FireBoyAJ24
Copy link
Contributor

@alberto-escobar and @eomielan, any updates on this PR?

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@eomielan eomielan eomielan left review comments

@SPDonaghy SPDonaghy Awaiting requested review from SPDonaghy SPDonaghy is a code owner

At least 0 approving reviews are required to merge this pull request.

Assignees

@alberto-escobar alberto-escobar

Labels
sim Boat Simulator team
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.

Update low level control node with implemented controllers
6 participants
@alberto-escobar @FireBoyAJ24 @eomielan @SPDonaghy @JordanChen123 @lross03