sonia-auv/control_library

control_library's Issues

Random and undesired barrel roll at start

Expected Behavior

When we start the controller, the auv should stay at steady states.

Current Behavior

Sometimes, the auv make a undesired barrel roll when we start the controller.

Possible Solution

Check quaternion missmatch between the initial guess and first mesurment

Comments

Environment Used

• Matlab 2021b

Replace matlab function by matlab system

Expected Behavior

We should use matlab system instead of matlab function because the more code is outside the binary simulink file the better.
Also when simulated in simulink, matlab systems can be generated in cpp increasing performence.

Environment Used

• matlab2021b

Problem in the read me

Warning : Before creating an issue or task, make sure that it does not already exists in the issue tracker. Thank you.

Current Behavior

The command rosgenmsg has the folder path '/.'

Possible Solution

The path should be './'

Environment Used

• Project version :
• docker version :
• docker-compose version :

New features make the AUV unstable

Expected Behavior

AUV should be stable at rest.

Current Behavior

In simulation the AUV is stable at rest but in pool the auv is diverging.

Possible Solution

Check proc_nav

Hydrophone Kinematics

Expected Enhancement

We should be able to set a virtual pinger and simulate the angles phi and theta as the hydrophone should.

Current Behavior

Not implemented yet.

Environment Used

• Matlab 2021b

Kill Message Change

Warning : Before creating an issue or task, make sure that it does not already exists in the issue tracker. Thank you.

Expected Behavior

The topic for the kill switch is still the same but the message type has been change to a std_msgs::Bool

Current Behavior

The type is still sonia_common::KillSwitchMsg. The error comes when the code has been compiled in proc_control.

Comments

Example of the error : /home/sonia/ros_sonia_ws/src/proc_control/src/slros_busmsg_conversion.h:18:10: fatal error: sonia_common/KillSwitchMsg.h: No such file or directory 18 | #include <sonia_common/KillSwitchMsg.h>

Environment Used

• docker version : 20.10.5
• docker-compose version : 1.28.5

Change the name of proc_control

Expected Behavior

the node name should be "proc_control"

Current Behavior

The node is "proc_control_npde

Comments

Need to change the simulink name and update all ros publisher bus

Environment Used

• Matlab 2021b

Catkin_make failed with undefined reference

Warning : Before creating an issue or task, make sure that it does not already exists in the issue tracker. Thank you.

Expected Behavior

Catkin_make compiles after generation C++ code from matlab.

Current Behavior

Error at the end of the catkin_make rtiostream_interface.c:222: undefined reference to rtIOStreamBlockingSend'`

Possible Solution

Verify the dependecy of the files since there is multiple files with the same name

Environment Used

• Project version : 0.0.0
• Matlab version : R2021b

Update README with new values for MPC

Warning : Before creating an issue or task, make sure that it does not already exists in the issue tracker. Thank you.

Expected Enhancement

The values for MPC modes in the README should be updated to adapt the telemetry and be able to use the simulation.

Current Behavior

The README display only 0 and 1 as values for the MPC modes.

Comments

This is blocking from

Environment Used

• Project version : I think this should be done in branch feature/SYS802, it seems to be the most up to date.
• docker-compose version : tested with sonia-deploy on local