def main():
print('Starting Non-model-based Sliding Mode Controller')
rclpy.init()
try:
sim_time_param = is_sim_time()
tf_world_ned_to_enu = get_world_ned_to_enu(sim_time_param)
node = ROV_NMB_SMController('rov_nmb_sm_controller',
world_ned_to_enu=tf_world_ned_to_enu,
parameter_overrides=[sim_time_param])
executor = rclpy.executors.MultiThreadedExecutor()
executor.add_node(node)
executor.spin()
# rclpy.spin(node)
except KeyboardInterrupt:
pass
except Exception as e:
print('Caught exception: ' + repr(e))
traceback.print_exc()
finally:
if rclpy.ok():
rclpy.shutdown()
print('Exiting')
def main():
rclpy.init()
try:
sim_time_param = is_sim_time()
tf_world_ned_to_enu = get_world_ned_to_enu(sim_time_param)
node = ROV_NLPIDController('rov_nl_pid_controller',
world_ned_to_enu=tf_world_ned_to_enu,
parameter_overrides=[sim_time_param])
rclpy.spin(node)
except Exception as e:
print('Caught exception: ' + repr(e))
traceback.print_exc()
finally:
if rclpy.ok():
rclpy.shutdown()
print('exiting')
def main():
print('Starting Model-based Sliding Mode Controller')
rclpy.init()
try:
sim_time_param = is_sim_time()
tf_world_ned_to_enu = get_world_ned_to_enu(sim_time_param)
node = ROV_MB_SMController('rov_mb_sm_controller',
parameter_overrides=[sim_time_param],
world_ned_to_enu=tf_world_ned_to_enu)
rclpy.spin(node)
except Exception as e:
print('Caught exception: ' + repr(e))
traceback.print_exc()
finally:
if rclpy.ok():
rclpy.shutdown()
print('Exiting')
def main():
print('Starting PD controller with compensation of restoring forces')
rclpy.init()
try:
sim_time_param = is_sim_time()
tf_world_ned_to_enu = get_world_ned_to_enu(sim_time_param)
node = ROV_PD_GComp_Controller('rov_pd_grav_compensation_controller',
world_ned_to_enu=tf_world_ned_to_enu,
parameter_overrides=[sim_time_param])
rclpy.spin(node)
except Exception as e:
print('Caught exception: ' + repr(e))
traceback.print_exc()
finally:
if rclpy.ok():
rclpy.shutdown()
print('Exiting')
def main():
print('Starting AUV trajectory tracker')
rclpy.init()
try:
sim_time_param = is_sim_time()
tf_world_ned_to_enu = get_world_ned_to_enu(sim_time_param)
node = AUVGeometricTrackingController(
'auv_geometric_tracking_controller',
world_ned_to_enu=tf_world_ned_to_enu,
parameter_overrides=[sim_time_param])
rclpy.spin(node)
except Exception as e:
print('caught exception: ' + repr(e))
traceback.print_exc()
finally:
if rclpy.ok():
rclpy.shutdown()
def main():
print('Starting Modelbased Feedback Linearization Controller')
rclpy.init()
try:
sim_time_param = is_sim_time()
tf_world_ned_to_enu = get_world_ned_to_enu(sim_time_param)
node = ROV_MBFLController('rov_mb_fl_controller',
world_ned_to_enu=tf_world_ned_to_enu,
parameter_overrides=[sim_time_param])
rclpy.spin(node)
except rclpy.exceptions.ROSInterruptException as excep:
print('Caught ROSInterruptException exception: ' + str(excep))
except Exception as e:
print('Caught exception: ' + repr(e))
traceback.print_exc()
finally:
if rclpy.ok():
rclpy.shutdown()
print('Exiting')
+ np.dot(self._Ki, self._int)
self._tau = np.array(
[ua_tau[0], ua_tau[1], ua_tau[2], 0, 0, ua_tau[3]])
self.publish_control_wrench(self._tau)
return True
# =============================================================================
if __name__ == '__main__':
print('Starting Underactuated PID Controller')
rclpy.init()
try:
sim_time_param = is_sim_time()
tf_world_ned_to_enu = get_world_ned_to_enu(sim_time_param)
node = ROVUnderActuatedPIDController(
'rov_ua_pid_controller',
world_ned_to_enu=tf_world_ned_to_enu,
parameter_overrides=[sim_time_param])
rclpy.spin(node)
except Exception as e:
print('Caught exception: ' + repr(e))
traceback.print_exc()
finally:
if rclpy.ok():
rclpy.shutdown()
print('Exiting')