ROS IndexNo version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
|
whole_body_controllers package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common ik_solvers thruster_allocation_matrix_controller thruster_controllers topic_sensors velocity_controllers whole_body_controllers |
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | A collection of control algorithms for autonomous underwater vehicles implemented using ros2_control. |
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-27 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | robotics underwater-robotics robotic-control ros2 ros2-controllers ros2-rolling ros2-jazzy |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Whole-body controllers for underwater vehicle manipulator systems
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
Whole Body Controllers
This package provides a collection of whole-body controllers for underwater vehicle manipulator systems (UVMS).
Inverse Kinematics Controller
A chainable controller that uses inverse kinematics solvers to compute joint states required to achieve a desired end effector pose. This controller can be used with UVMS that have a single manipulator.
Plugin Library
whole_body_controllers/ik_controller
References
- Target end effector pose $\eta$EE
State Feedback
- Measured system velocity V: Vvehicle, Vmanipulator
- Measured system position q: qvehicle, qmanipulator
Commands
The output of this controller is the solution to the chosen inverse kinematics solver.
Subscribers
- ik_controller/reference [geometry_msgs::msg::Pose]
- ik_controller/vehicle_state [nav_msgs::msg::Odometry]
[!NOTE] The IK controller does not currently support sending manipulator states via a topic interface.
Publishers
- ik_controller/status [auv_control_msgs::msg::IKControllerStateStamped]
CHANGELOG
Changelog for package whole_body_controllers
0.1.0 (2025-04-27)
- Implements an IK controller for controlling a UVMS with a single manipulator
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| auv_controllers |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged whole_body_controllers at Robotics Stack Exchange
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.