feat: implementation of a pid dp controller #499
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* chore(pylint): add .pylintrc configuration file * refactor: fix pylint warning W1510 * refactor: fix pylint warning C0116 * refactor: fix pylint warning C0411 * refactor: fix pylint warning R1731 * refactor: fix pylint warning R1705 * refactor: fix pylint warning W1514 * refactor: fix pylint warning C0200 * refactor: fix pylint warning W0611 * refactor: fix pylint warning W0702 * refactor: fix pylint warning C0121 * refactor: fix pylint warning W0107 * refactor: fix pylint warning R1714 * refactor: fix pylint warning C0201 * refactor: fix pylint warning C0303 and W0613 * refactor: fix pylint warning W0621 * refactor: fix pylint warning R0402 * refactor: fix pylint warning W0212 * chore(pylint): update rule adjustments and formatting * style: format code with black * style: format imports with isort * ci: add isort and pylint to Python pipeline * Committing black-format changes * chore: add pyproject.toml for project configuration * ci: update order of pipeline jobs * ci: update pylint job and pylint rules * ci: update which python versions pylint test * ci: update python pipeline to only run on pull_request * refactor: fix pylint warning C0103 * chore: update linting and project configuration rules in .pylintrc and pyproject.toml * Rename files to snake_case * ci: add pipeline for grammar in comments * refactor: fix spelling mistakes in comments * ci: update job codespell_fix to continue on error * refactor: fix spelling mistakes in comments * ci: update pipeline codespell to only have one job * refactor: fix variable naming issues and adjust imports as per review * Committing codespell fixes * refactor: spelling correction * ci: update CI file and job names for consistency * ci: update CI file for more clarity * chore: add codespell configuration and ignore list * chore: add type hints and return types * ci: add mypy.ini for type checking configuration * ci: add mypy type checking workflow * refactor: format code with black * refactor: format all yaml files using prettier * ci: add pipeline for yaml formatting using prettier * ci: update yaml formatting pipeline to run on pull request * refactor: remove deprecated typing * refactor: fix import sorting * ci: remove faulty ci pipelines and combine python pipelines into single file * fix(security): replace subprocess call with safer alternative to remove shell=true * feat: add pre-commit hooks for black, isort, and codespell * ci: update python pipeline to use latest versions * refactor: apply code formatting fixes via pre-commit hooks * ci: split python ci/cd pipelines into multiple files * ci: add ci pipeline for checking style clang-format * refactor: remove unused config file for clang-format * refactor: remove duplicate file * ci: add ci pipeline that tests that codebase can build * refactor: update ci-build pipeline to only run on pull request * refactor: update clang-format config * refactor: apply clang-format * feat: update pipeline to build and run tests * refactor: disable linting checks when running colcon test * refactor: update .pre-commit-config file (#480) --------- Co-authored-by: Black Robot <black-robot@example.com> Co-authored-by: Codespell Robot <codespell-robot@example.com> Co-authored-by: Sondre Haugen <sondre95556888@gmail.com>
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@kluge7 Bot-en feila man, kan du se på det? builder i min |
Andeshog
reviewed
Jan 10, 2025
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| control_topic: /thrust/wrench_input | ||
| dp_reference_topic: /dp/reference | ||
| odom_topic: /orca/odom |
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add the twist and pose topics here as well
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| // @brief Calculate the control input tau | ||
| // @param eta: 7D vector containing the vehicle pose [x, y, z, w, x, y, z] | ||
| // @param eta_d: 7D vector containing the desired vehicle pose [x, y, z, w, | ||
| // x, y, z] | ||
| // @param nu: 6D vector containing the vehicle velocity [u, v, w, p, q, r] | ||
| // @param eta_dot_d: 7D vector containing the desired vehicle velocity [u, | ||
| // v, w, p, q, r] | ||
| // @return 6D vector containing the control input tau [X, Y, Z, K, M, N] |
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| types::Matrix3d calculate_R_quat(const types::Eta& eta); | ||
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| // @brief Calculate the transformation matrix from a quaternion | ||
| // @param q: Quaternion represented as a 4D vector [w, x, y, z] | ||
| // @return 4x3 transformation matrix | ||
| // REF: Handbook of Marine Craft Hydrodynamics and Motion Control, Fossen 2021 | ||
| // p.35 eq: 2.78 | ||
| types::Matrix4x3d calculate_T_quat(const types::Eta& eta); | ||
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| // @brief Calculate the Jacobian matrix | ||
| // @param eta: 7D vector containing the vehicle pose [x, y, z, w, x, y, z] | ||
| // @return 7x6 Jacobian matrix | ||
| // REF: Handbook of Marine Craft Hydrodynamics and Motion Control, Fossen 2021 | ||
| // p.36 eq: 2.83 | ||
| types::J_transformation calculate_J(const types::Eta& eta); |
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Could these be part of the Eta struct instead? Which would result in
Eta eta;
rotation_matrix = eta.rotation_matrix;Same would apply for T and J as well
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| void PIDController::setTimeStep(double dt_) { | ||
| this->dt_ = dt_; |
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input dt can just be written as dt here, not dt_
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also use snake_case when naming functions to keep consistent with the rest of the code
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| # Default to C++14 | ||
| if(NOT CMAKE_CXX_STANDARD) | ||
| set(CMAKE_CXX_STANDARD 14) | ||
| endif() |
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this is outdated, update the version number
Also remove comments in this file, doesnt add anything
| ros__parameters: | ||
| control_topic: /thrust/wrench_input | ||
| dp_reference_topic: /dp/reference | ||
| nucleus_odom_topic: /orca/odom |
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nucleus is not used anymore, also add twist and pose
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| # Default to C++14 | ||
| if(NOT CMAKE_CXX_STANDARD) | ||
| set(CMAKE_CXX_STANDARD 14) | ||
| endif() |
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same as in pid euler, update version number and remove comments in this file
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| reference_filter_topic: /aruco_board_pose_camera | ||
| dp_reference_topic: /dp/reference | ||
| nucleus_odom_topic: /orca/odom |
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update name for odom and add twist and pose topics
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DP controller with quaternion representation used.
The controller is tuned and works in the simulator
Added in docstring for the functions in .hpp file
ROS2 functions are defined separate from the normal functions ( cough Christopher asked for this cough )
Source: Trust me bro