Commits · 88ecdc7addd93117a574bfd2910bbfd36c6deb8a · РМК / Plankton

Oct 16, 2017
- Merge pull request #131 from uuvsimulator/feature/mb_fl_controller · 88ecdc7a
  lurido authored Oct 16, 2017
  
  ADD Model-based feedback linearization controller
  88ecdc7a
- Merge pull request #130 from uuvsimulator/fix/nmb_sm_sliding_surface · 6384ca28
  lurido authored Oct 16, 2017
  
  FIX Sliding surface with saturation function
  6384ca28
- Merge pull request #129 from uuvsimulator/fix/evaluation_logging_handlers · e250062a
  lurido authored Oct 16, 2017
  
  FIX Duplicate logging handlers on evaluation scripts
  e250062a
Oct 13, 2017

ADD Model-based feedback linearization controller · 0878d961

Musa Morena Marcusso Manhaes authored Oct 13, 2017



Controller mostly targeted for thruster actuated robot models.

Signed-off-by: Musa Morena Marcusso Manhaes <Musa.Marcusso@de.bosch.com>

0878d961

FIX Sliding surface with saturation function · ebc5883a

Musa Morena Marcusso Manhaes authored Oct 13, 2017

To avoid extreme control efforts from being generated, add an
option to use a saturation function that will fix the chattering
problem with the non-model-based sliding mode controller.

Signed-off-by: Musa Morena Marcusso Manhaes <Musa.Marcusso@de.bosch.com>

ebc5883a

FIX Duplicate logging handlers on evaluation scripts · 71fce7bc
Musa Morena Marcusso Manhaes authored Oct 13, 2017
```
Signed-off-by: Musa Morena Marcusso Manhaes <Musa.Marcusso@de.bosch.com>
```
71fce7bc

Oct 04, 2017
- Merge pull request #127 from uuvsimulator/dev/create_thruster_manager_config · 437e1e91
  lurido authored Oct 04, 2017
  
  Dev/create thruster manager config
  437e1e91
Oct 01, 2017
- CHANGE .gitignore · 0e749edd
  Musa Morena Marcusso Manhaes authored Oct 01, 2017
  
  Signed-off-by: Musa Morena Marcusso Manhaes <Musa.Marcusso@de.bosch.com>
  0e749edd
Sep 29, 2017
- ADD Template files for the thruster manager configuration · 5e703b4e
  Musa Morena Marcusso Manhaes authored Sep 29, 2017
  
  Signed-off-by: Musa Morena Marcusso Manhaes <Musa.Marcusso@de.bosch.com>
  5e703b4e
- CHANGE Create folders according to the template · 14146470
  Musa Morena Marcusso Manhaes authored Sep 29, 2017
  
  Signed-off-by: Musa Morena Marcusso Manhaes <Musa.Marcusso@de.bosch.com>
  14146470
- ADD Script to create thruster manager configuration · cfe434b9
  Musa Morena Marcusso Manhaes authored Sep 29, 2017
  
  Signed-off-by: Musa Morena Marcusso Manhaes <Musa.Marcusso@de.bosch.com>
  cfe434b9
- CHANGE Extension of the template files · 5d65d736
  Musa Morena Marcusso Manhaes authored Sep 29, 2017
  
  Signed-off-by: Musa Morena Marcusso Manhaes <Musa.Marcusso@de.bosch.com>
  5d65d736
Sep 28, 2017
- Merge pull request #125 from uuvsimulator/fix/thruster_template_comment · 6b8795e6
  Musa Morena Marcusso Manhães authored Sep 28, 2017
  
  FIX Comment on thruster macro template xacro file
  6b8795e6
- FIX Comment on thruster macro template xacro file · 7e39a7cd
  Musa Morena Marcusso Manhaes authored Sep 28, 2017
  
  Signed-off-by: Musa Morena Marcusso Manhaes <Musa.Marcusso@de.bosch.com>
  7e39a7cd
- Merge pull request #124 from uuvsimulator/dev/rm_old_oberon_arm · 5e0ba811
  lurido authored Sep 28, 2017
  
  RM Old oberon arm description and launch files, replaced by oberon7
  5e0ba811
- RM Old oberon arm description and launch files, replaced by oberon7 · b1faf244
  Musa Morena Marcusso Manhaes authored Sep 28, 2017
  
  Signed-off-by: Musa Morena Marcusso Manhaes <Musa.Marcusso@de.bosch.com>
  b1faf244
- Merge pull request #123 from uuvsimulator/fix/optional_surface_vessel_template · 52bda4cc
  lurido authored Sep 28, 2017
  
  FIX Set the surface vessel parameters as optional in the template
  52bda4cc
- FIX Set the surface vessel parameters as optional in the template · 8393972b
  Musa Morena Marcusso Manhaes authored Sep 28, 2017
  
  Signed-off-by: Musa Morena Marcusso Manhaes <Musa.Marcusso@de.bosch.com>
  8393972b
- Merge pull request #122 from uuvsimulator/dev/create_robot_script · 7e2e8c32
  Musa Morena Marcusso Manhães authored Sep 28, 2017
  
  ADD Script and template files to create a catkin_package for a new ro…
  7e2e8c32
- RM Ned link, transformations now computed in the plugin · 4a206345
  Musa Morena Marcusso Manhaes authored Sep 28, 2017
  
  Signed-off-by: Musa Morena Marcusso Manhaes <Musa.Marcusso@de.bosch.com>
  4a206345
- RM Old comment on first order model gain · 387dd25d
  Musa Morena Marcusso Manhaes authored Sep 28, 2017
  
  Signed-off-by: Musa Morena Marcusso Manhaes <Musa.Marcusso@de.bosch.com>
  387dd25d
- ADD Script and template files to create a catkin_package for a new robot description · a66daa56
  Musa Morena Marcusso Manhaes authored Sep 28, 2017
  
  Signed-off-by: Musa Morena Marcusso Manhaes <Musa.Marcusso@de.bosch.com>
  a66daa56
Sep 25, 2017
- Merge pull request #118 from uuvsimulator/dev/simple_auv_tracking_controller · 880d5648
  lurido authored Sep 25, 2017
  
  Simple AUV tracking controller and PID for underactuated vehicles
  880d5648
- Merge pull request #119 from uuvsimulator/dev/evaluation_time_offset · c7d4b2c9
  lurido authored Sep 25, 2017
  
  Adding optional time offset to start generating simulation KPIs
  c7d4b2c9
Sep 22, 2017
- FIX Matrix dimension errors · b8548368
  Musa Morena Marcusso Manhaes authored Sep 22, 2017
  
  Signed-off-by: Musa Morena Marcusso Manhaes <Musa.Marcusso@de.bosch.com>
  b8548368
- ADD PID controller for underactuated vehicles · 5e93075b
  Musa Morena Marcusso Manhaes authored Sep 22, 2017
  
  Signed-off-by: Musa Morena Marcusso Manhaes <Musa.Marcusso@de.bosch.com>
  5e93075b
- ADD Argument to generate trajectories in 6 DoF · c83c315d
  Musa Morena Marcusso Manhaes authored Sep 22, 2017
  
  Signed-off-by: Musa Morena Marcusso Manhaes <Musa.Marcusso@de.bosch.com>
  c83c315d
- ADD gui_on flag to all controller launch files · 84aea178
  Musa Morena Marcusso Manhaes authored Sep 22, 2017
  
  gui_on flag will toggle publication of trajectory and waypoint visual markers Signed-off-by: Musa Morena Marcusso Manhaes <Musa.Marcusso@de.bosch.com>
  84aea178
- CHANGE CMakeLists to install new controller script · accb00c0
  Musa Morena Marcusso Manhaes authored Sep 22, 2017
  
  Signed-off-by: Musa Morena Marcusso Manhaes <Musa.Marcusso@de.bosch.com>
  accb00c0
- ADD Simple AUV P-controller · 3cbed7b8
  Musa Morena Marcusso Manhaes authored Sep 22, 2017
  
  Signed-off-by: Musa Morena Marcusso Manhaes <Musa.Marcusso@de.bosch.com>
  3cbed7b8
- FIX Typos on simulation_runner · 4dc6ff5c
  Musa Morena Marcusso Manhaes authored Sep 22, 2017
  
  Signed-off-by: Musa Morena Marcusso Manhaes <Musa.Marcusso@de.bosch.com>
  4dc6ff5c
- ADD Option for time offset on KPI computation · adc539e0
  Musa Morena Marcusso Manhaes authored Sep 22, 2017
  
  KPI filters out the state vectors recorded before a certain time stamp. Signed-off-by: Musa Morena Marcusso Manhaes <Musa.Marcusso@de.bosch.com>
  adc539e0
Sep 21, 2017
- Merge pull request #116 from uuvsimulator/fix/controller_init · 30b1c744
  lurido authored Sep 21, 2017
  
  ADD Flag to check controller initialization
  30b1c744
- Merge pull request #115 from uuvsimulator/fix/redundant_pi · 7dc5822b
  lurido authored Sep 21, 2017
  
  RM Redundant definition of PI
  7dc5822b
- Merge pull request #114 from uuvsimulator/dev/simple_boxed_surface_vessel · ccde6a64
  lurido authored Sep 21, 2017
  
  Dev/simple boxed surface vessel
  ccde6a64
Sep 20, 2017

ADD Flag to check controller initialization · 8ea2a345

Musa Morena Marcusso Manhaes authored Sep 20, 2017



The controller could break in case the timer set in the
base class started the update before all parameters were
properly initialized.

Signed-off-by: Musa Morena Marcusso Manhaes <Musa.Marcusso@de.bosch.com>

8ea2a345

RM Redundant definition of PI · 0dea66e9
Musa Morena Marcusso Manhaes authored Sep 20, 2017
```
Signed-off-by: Musa Morena Marcusso Manhaes <Musa.Marcusso@de.bosch.com>
```
0dea66e9
Merge pull request #113 from uuvsimulator/dev/thruster_limits · ec9d1eb7
lurido authored Sep 20, 2017
```
ADD Optional input argument to limit the output thrust force.
```
ec9d1eb7

Sep 19, 2017

ADD Read parameters for the metacenter · bea0a1b7
Musa Morena Marcusso Manhaes authored Sep 19, 2017
```
Signed-off-by: Musa Morena Marcusso Manhaes <Musa.Marcusso@de.bosch.com>
```
bea0a1b7

ADD Parameters to simulate simple surface vessels · 3963f4f3

Musa Morena Marcusso Manhaes authored Sep 19, 2017

The buoyancy module can now receive parameters such as the the
metacenter of the vessel and generate the buoyancy force and torque
according to the simple boxed-shaped surface vessel model.

Signed-off-by: Musa Morena Marcusso Manhaes <Musa.Marcusso@de.bosch.com>

3963f4f3