<feat> implemented Liner Quadratic Regulator #500
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Andeshog
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Nov 10, 2024
control/velocity_controller_lqr/config/param_velocity_controller_lqr.yaml
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control/velocity_controller_lqr/launch/velocity_controller_lqr.launch.py
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control/velocity_controller_lqr/velocity_controller_lqr/velocity_controller_lqr_lib.py
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control/velocity_controller_lqr/velocity_controller_lqr/velocity_controller_lqr_lib.py
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control/velocity_controller_lqr/velocity_controller_lqr/velocity_controller_lqr_lib.py
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control/velocity_controller_lqr/velocity_controller_lqr/velocity_controller_lqr_lib.py
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control/velocity_controller_lqr/velocity_controller_lqr/velocity_controller_lqr_lib.py
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Talhanc
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Nov 10, 2024
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| ament_python_install_package(${PROJECT_NAME}) | ||
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| #install python scripts |
control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
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| controller is not None | ||
| ) # Simple test to ensure the controller initializes | ||
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| def test_ssa(self): |
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I think you should have doc-string to explain the tests
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| import math as math | ||
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| import numpy as np | ||
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| import control as ct | ||
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control/velocity_controller_lqr/velocity_controller_lqr/velocity_controller_lqr_lib.py
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kluge7
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kluge7
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Nov 10, 2024
3 tasks
kluge7
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Nov 15, 2024
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| <test_depend>ament_lint_auto</test_depend> | ||
| <test_depend>ament_lint_common</test_depend> |
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This can be removed. Linting is tested through pre-commit hooks
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| def test_final(self): | ||
| print("¯\_(ツ)_/¯ ehh good enough pass anyway") | ||
| pass |
requirements.sh
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This bash script will be used resolve dependencies not supported by rosdep.
Andeshog
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Nov 15, 2024
control/velocity_controller_lqr/launch/velocity_controller_lqr.launch.py
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control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
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control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
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control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
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control/velocity_controller_lqr/velocity_controller_lqr/velocity_controller_lqr_lib.py
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| def main(args=None): # main function | ||
| rclpy.init(args=args) | ||
| node = LinearQuadraticRegulator() | ||
| rclpy.spin(node) |
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Consider using [MultiThreadedExecutor]https://docs.ros.org/en/humble/Concepts/Intermediate/About-Executors.htmll)
control/velocity_controller_lqr/velocity_controller_lqr/velocity_controller_lqr_lib.py
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control/velocity_controller_lqr/velocity_controller_lqr/velocity_controller_lqr_lib.py
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Fixed everything, AUV works flawlessly now.