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Sailrobot Package
The sailrobot package provides groups of algorithms for sailboat control.
- Maintainer status: maintained
- Maintainer: Vautier U.
- Author: Ulysse Vautier <ulysse.vautier AT plymouth DOT ac DOT uk>
- License: GPL v3
- Source: git https://github.com/Plymouth-Sailboat/SailBoatROS (branch: master)
0.0 potential_field
The Potential Field is a well known navigation algorithm using a vector field with attractive points (goal points) and repulsive points (obstacles). In this version, the wind is taken into account for the sailboat.
/GPS/fix (common_msgs/GPSFix) Current GPS Coordinates of the sailboat.
/IMU (sensor_msgs/IMU)
Current heading of the sailboat.
/wind (geometry_msgs/Pose2D)
Force and Direction of wind.
/sailboat_cmd (geometry_msgs/Twist)
Heading Vector of the calculated potential.
~goal (string, default: data/goalpoint.txt)
Filepath (absolute or relative) of the GPS coordinates file for the goal waypoints.
~obstacles (string, default: data/obstacles.txt)
Filepath (absolute or relative) of the GPS coordinates file for the obstacle waypoints.
The Waypoint Follower is a simple algorithm that controls the sailboat to go from one waypoint to the other.
/GPS/fix (common_msgs/GPSFix) Current GPS Coordinates of the sailboat.
/IMU (sensor_msgs/IMU)
Current heading of the sailboat.
/wind (geometry_msgs/Pose2D)
Force and Direction of wind.
/sailboat_cmd (geometry_msgs/Twist)
Heading angle of the bearing between the sailboat and the next waypoint.
~waypoints (string, default: data/waypoints.txt)
Filepath (absolute or relative) of the GPS coordinates file for the waypoints.
0.2 line_following
The Line Following algorithm can be seen as a Waypoint Follower. The difference is that the sailboat will try to stay as close as possible of the line between one waypoint to the next.
/GPS/fix (common_msgs/GPSFix) Current GPS Coordinates of the sailboat.
/IMU (sensor_msgs/IMU)
Current heading of the sailboat.
/wind (geometry_msgs/Pose2D)
Force and Direction of wind.
/sailboat_cmd (geometry_msgs/Twist)
Rudder and Sail angle.
~waypoints (string, default: data/line_following.txt)
Filepath (absolute or relative) of the GPS coordinates file for the waypoints.
0.3 target_reach
The keeping position algorithm is hard. The sailboat has to stay in position centered on a GPS coordinate. This algorithm does a complex scenario to position itself upwind when arriving on the waypoint and tries to stay on it.
/GPS/fix (common_msgs/GPSFix) Current GPS Coordinates of the sailboat.
/IMU (sensor_msgs/IMU)
Current heading of the sailboat.
/wind (geometry_msgs/Pose2D)
Force and Direction of wind.
/sailboat_cmd (geometry_msgs/Twist)
Rudder and Sail angle.