control_library's Issues
Update README with new values for MPC
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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
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
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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
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 :
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
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
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
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
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
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