removed default yaml file, added launch args for launching drone either for simulator or physical drone

Author: Q3rkses

auv_setup/auv_setup/launch_arg_common.py

@@ -23,3 +23,15 @@ def resolve_drone_and_namespace(context):
     if namespace == "":
         namespace = drone
     return drone, namespace
+
+
+def declare_config_type_arg(default_config_type="sim"):
+    return DeclareLaunchArgument(
+        "config_type",
+        default_value=default_config_type,
+        description="Controller config variant: 'sim' or 'physical'",
+    )
+
+
+def resolve_config_type(context):
+    return LaunchConfiguration("config_type").perform(context)

auv_setup/launch/dp.launch.py

@@ -7,13 +7,16 @@
 from launch_ros.descriptions import ComposableNode
 
 from auv_setup.launch_arg_common import (
+    declare_config_type_arg,
     declare_drone_and_namespace_args,
+    resolve_config_type,
     resolve_drone_and_namespace,
 )
 
 
 def launch_setup(context, *args, **kwargs):
     drone, namespace = resolve_drone_and_namespace(context)
+    config_type = resolve_config_type(context)
 
     filter_file_path = os.path.join(
         get_package_share_directory("reference_filter_dp"),
@@ -31,7 +34,7 @@ def launch_setup(context, *args, **kwargs):
     adapt_params = os.path.join(
         get_package_share_directory("dp_adapt_backs_controller"),
         "config",
-        f"adapt_params_{drone}.yaml",
+        f"adapt_params_{drone}_{config_type}.yaml",
     )
 
     container = ComposableNodeContainer(
@@ -68,6 +71,7 @@ def generate_launch_description():
     return LaunchDescription(
         declare_drone_and_namespace_args()
         + [
+            declare_config_type_arg(),
             OpaqueFunction(function=launch_setup),
         ]
     )

auv_setup/launch/dp_quat.launch.py

@@ -7,13 +7,16 @@
 from launch_ros.descriptions import ComposableNode
 
 from auv_setup.launch_arg_common import (
+    declare_config_type_arg,
     declare_drone_and_namespace_args,
+    resolve_config_type,
     resolve_drone_and_namespace,
 )
 
 
 def launch_setup(context, *args, **kwargs):
     drone, namespace = resolve_drone_and_namespace(context)
+    config_type = resolve_config_type(context)
 
     filter_config = os.path.join(
         get_package_share_directory("reference_filter_dp_quat"),
@@ -31,7 +34,7 @@ def launch_setup(context, *args, **kwargs):
     adapt_params = os.path.join(
         get_package_share_directory("dp_adapt_backs_controller_quat"),
         "config",
-        f"adapt_params_{drone}.yaml",
+        f"adapt_params_{drone}_{config_type}.yaml",
     )
 
     container = ComposableNodeContainer(
@@ -67,6 +70,7 @@ def generate_launch_description():
     return LaunchDescription(
         declare_drone_and_namespace_args()
         + [
+            declare_config_type_arg(),
             OpaqueFunction(function=launch_setup),
         ]
     )

auv_setup/launch/topside.launch.py

@@ -3,10 +3,12 @@
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import (
+    DeclareLaunchArgument,
     IncludeLaunchDescription,
     OpaqueFunction,
     SetEnvironmentVariable,
 )
+from launch.substitutions import LaunchConfiguration
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_ros.actions import Node
 
@@ -19,6 +21,7 @@
 def launch_setup(context, *args, **kwargs):
     """Set up the topside nodes with drone-specific namespace."""
     drone, namespace = resolve_drone_and_namespace(context)
+    orientation_mode = LaunchConfiguration("orientation_mode").perform(context)
 
     joy_node = Node(
         package="joy",
@@ -42,6 +45,7 @@ def launch_setup(context, *args, **kwargs):
         ),
         launch_arguments={
             "drone": drone,
+            "orientation_mode": orientation_mode,
             "namespace": namespace,
         }.items(),
     )
@@ -68,5 +72,12 @@ def generate_launch_description() -> LaunchDescription:
     return LaunchDescription(
         [set_env_var]
         + declare_drone_and_namespace_args()
-        + [OpaqueFunction(function=launch_setup)]
+        + [
+            DeclareLaunchArgument(
+                "orientation_mode",
+                default_value="quat",
+                description="Reference orientation representation: 'euler' (ReferenceFilter) or 'quat' (ReferenceFilterQuat)",
+            ),
+            OpaqueFunction(function=launch_setup),
+        ]
     )

…roller/config/adapt_params_nautilus.yaml …nfig/adapt_params_nautilus_physical.yamlcontrol/dp_adapt_backs_controller/config/adapt_params_nautilus.yaml renamed to control/dp_adapt_backs_controller/config/adapt_params_nautilus_physical.yaml control/dp_adapt_backs_controller/config/adapt_params_nautilus.yaml renamed to control/dp_adapt_backs_controller/config/adapt_params_nautilus_physical.yaml

@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    K1 : [15.0, 15.0, 15.0, 1.5, 6.0, 6.0] # Outer loop tuning parameters
+    K2 : [30.0, 30.0, 30.0, 2.0, 8.5, 8.5] # Inner loop tuning parameters
+    r_b_bg : [0.0, 0.0, 0.01] # Vector from body centre to centre of gravity
+    adapt_gain : [0.6, 0.15, 0.6, 0.15, 0.6, 0.15, 0.6, 0.15, 0.6, 0.15, 0.6, 0.15] # Tuning parameters for linear and nonlinear damping
+    d_gain : [0.8, 0.8, 0.8, 0.8, 0.8, 0.8] # Tuning parameters for the unmodeled disturbances and uncertanties

control/dp_adapt_backs_controller/config/adapt_params_nautilus_sim.yaml

@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    K1 : [10.5, 10.5, 13.5, 0.0, 4.0, 4.0] # Outer loop tuning parameters
+    K2 : [20.5, 20.5, 20.5, 0.0, 5.5, 5.5] # Inner loop tuning parameters
+    r_b_bg : [0.01, 0.0, 0.02] # Vector from body centre to centre of gravity
+    adapt_gain : [0.4, 0.1, 0.4, 0.1, 0.4, 0.1, 0.4, 0.1, 0.4, 0.1, 0.4, 0.1] # Tuning parameters for linear and nonlinear damping
+    d_gain : [0.6, 0.6, 0.6, 0.6, 0.6, 0.6] # Tuning parameters for the unmodeled disturbances and uncertanties

…controller/config/adapt_params_orca.yaml …r/config/adapt_params_orca_physical.yamlcontrol/dp_adapt_backs_controller/config/adapt_params_orca.yaml renamed to control/dp_adapt_backs_controller/config/adapt_params_orca_physical.yaml control/dp_adapt_backs_controller/config/adapt_params_orca.yaml renamed to control/dp_adapt_backs_controller/config/adapt_params_orca_physical.yaml

@@ -6,18 +6,21 @@
 from launch_ros.actions import Node
 
 from auv_setup.launch_arg_common import (
+    declare_config_type_arg,
     declare_drone_and_namespace_args,
+    resolve_config_type,
     resolve_drone_and_namespace,
 )
 
 
 def launch_setup(context, *args, **kwargs):
     drone, namespace = resolve_drone_and_namespace(context)
+    config_type = resolve_config_type(context)
 
     adapt_params = os.path.join(
         get_package_share_directory("dp_adapt_backs_controller"),
         "config",
-        f"adapt_params_{drone}.yaml",
+        f"adapt_params_{drone}_{config_type}.yaml",
     )
 
     drone_params = os.path.join(
@@ -41,5 +44,6 @@ def launch_setup(context, *args, **kwargs):
 
 def generate_launch_description():
     return LaunchDescription(
-        declare_drone_and_namespace_args() + [OpaqueFunction(function=launch_setup)]
+        declare_drone_and_namespace_args()
+        + [declare_config_type_arg(), OpaqueFunction(function=launch_setup)]
     )

control/dp_adapt_backs_controller/config/adapt_params_orca_sim.yaml

@@ -12,7 +12,7 @@ add_executable(
 
 target_compile_definitions(${TEST_BINARY_NAME} PRIVATE
     DRONE_YAML_PATH="${CMAKE_CURRENT_SOURCE_DIR}/../../../auv_setup/config/robots/nautilus.yaml"
-    CONTROLLER_YAML_PATH="${CMAKE_CURRENT_SOURCE_DIR}/../config/adapt_params_nautilus.yaml"
+    CONTROLLER_YAML_PATH="${CMAKE_CURRENT_SOURCE_DIR}/../config/adapt_params_nautilus_sim.yaml"
 )
 
 target_link_libraries(