Integrate Nav2 Stack and Refactor ISMC Controller #1
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
OgnjenX
force-pushed
the
nav2_integration
branch
from
b8afeb6
to
4071d52
Compare
Introduce Nav2 stack, drawing inspiration from the implementation in Orca4. Additionally, restructure ISMC controller to align with Nav2 requirements. Previously, the controller transmitted PWM values for individual motors using the 'tcm' matrix for mapping. However, Ardusub expects 6DoF representation input (linear and angular velocities by axis), as outlined in https://www.ardusub.com/developers/rc-input-and-output.html. This adjustment facilitates seamless integration with Nav2.
Add 'invertPwm' function in thruster_dynamics. Function will invert PWM value on range of kMinPwm - kMaxPwm, so that previously max value becomes mix, and vice versa. Examples: old new 1100 1900 1101 1899 1102 1898 ...
Remove commented code in mission_runner.py and reformat file.
OgnjenX
force-pushed
the
nav2_integration
branch
from
4071d52
to
a620e11
Compare
Add configurable 'use_sim_time' for nav2 launch.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Introduce Nav2 stack, drawing inspiration from the implementation in Orca4. Additionally, restructure ISMC controller to align with Nav2 requirements. Previously, the controller transmitted PWM values for individual motors using the 'tcm' matrix for mapping. However, Ardusub expects 6DoF representation input (linear and angular velocities by axis), as outlined in https://www.ardusub.com/developers/rc-input-and-output.html. This adjustment facilitates seamless integration with Nav2.