UUV switch for varying actuator dofs #16690
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control modules depending on the actuator config required when HippoCampus (4DOF) and BlueRov (6DOF) shall use the same control modules. so far uuv_pos_control will only be used by the BlueROV
control modules depending on the actuator config required when HippoCampus (4DOF) and BlueRov (6DOF) shall use the same control modules. so far uuv_pos_control will only be used by the BlueROV
…ielDuecker/PX4-Autopilot into uuv_switch_for_varying_actuator_dofs
| # | ||
| if [ $UUV_DOF_ACTUATED = 6 ] | ||
| then | ||
| uuv_pos_control start |
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Why is the position control module not started when the it is not fully actuated(DOF 6)? Wouldn't it be better to also be able to control position for underactuated UUVs?
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uuv_pos_control does not feature support for the 4dof yet.
will be one of the next steps.
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@DanielDuecker Yes, but if this is the plan, what I meant was that it would be better if we can handle this from inside the module, rather than preventing the whole app from starting.
| @@ -28,4 +28,7 @@ fi | |||
| set MAV_TYPE 12 | |||
| param set MAV_TYPE ${MAV_TYPE} | |||
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| # set number of actuated degrees of freedom | |||
| set UUV_DOF_ACTUATED 6 | |||
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Is there a reason why this does not belong to the $AUTOCONF=yes condition?
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@DanielDuecker Any updates? |
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This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions. |
Describe problem solved by this pull request
There is currently just a single vehicle_type uuv for all underwater vehicles. However, depending on the number of actuated DOF different configurations need to be used. Eg. HippoCampus UUV is underactuated and has 4 DOF while the BlueRov2 Heavy has 6 actuated DOF
Describe your solution
this PR introduces a new parameter UUV_DOF_ACTUATED to select different configurations. As a first step it starts the uuv_pos_controller which is proposed in PR #16688 .
Describe possible alternatives
We could also go for multiple uuv vechicle_types e.g. uuv_4dof and uuv_6dof. However, this increases complexity while decreasing the idea of generalized modules
Test data / coverage
So far Gazebo only.