Skip to content

Commit 956c48c

Browse files
evan-palmerevan-palmer
committed
address merge conflicts
2 parents 3b58ca9 + c599696 commit 956c48c

46 files changed

Lines changed: 164 additions & 79 deletions

Some content is hidden

Large Commits have some content hidden by default. Use the searchbox below for content that may be hidden.

‎.dockerignore‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -11,6 +11,6 @@
1111
!thruster_allocation_matrix_controller
1212
!thruster_controllers
1313
!topic_sensors
14-
!velocity_controllers
14+
!twist_controllers
1515
!whole_body_controllers
1616
!ros2.repos

‎auv_control_demos/CHANGELOG.md‎

Lines changed: 4 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,9 @@
11
# Changelog for package auv_control_demos
22

3+
## 0.5.0 (2026-05-29)
4+
5+
## 0.4.3 (2026-04-25)
6+
37
## 0.4.2 (2026-03-30)
48

59
## 0.4.1 (2026-02-23)

‎auv_control_demos/chained_controllers/README.md‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -23,7 +23,7 @@ applies a PWM command to the hardware interface.
2323
The output should resemble:
2424

2525
```bash
26-
adaptive_integral_terminal_sliding_mode_controller velocity_controllers/AdaptiveIntegralTerminalSlidingModeController active
26+
adaptive_integral_terminal_sliding_mode_controller twist_controllers/AdaptiveIntegralTerminalSlidingModeController active
2727
thruster_allocation_matrix_controller thruster_allocation_matrix_controller/ThrusterAllocationMatrixController active
2828
thruster_8_controller thruster_controllers/PolynomialThrustCurveController active
2929
thruster_7_controller thruster_controllers/PolynomialThrustCurveController active
@@ -130,7 +130,7 @@ applies a PWM command to the hardware interface.
130130
- [chaining.launch.py](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/blob/main/auv_control_demos/chained_controllers/launch/chaining.launch.py)
131131

132132
- Controllers:
133-
- [Adaptive Integral Terminal Sliding Mode Controller](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/tree/main/velocity_controllers)
133+
- [Adaptive Integral Terminal Sliding Mode Controller](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/tree/main/twist_controllers)
134134
- [Thruster Allocation Matrix Controller](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/tree/main/thruster_allocation_matrix_controller)
135135
- [Polynomial Thrust Curve Controller](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/tree/main/thruster_controllers)
136136

‎auv_control_demos/chained_controllers/config/chained_controllers.yaml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,7 @@ controller_manager:
33
update_rate: 30 # Hz
44

55
adaptive_integral_terminal_sliding_mode_controller:
6-
type: velocity_controllers/AdaptiveIntegralTerminalSlidingModeController
6+
type: twist_controllers/AdaptiveIntegralTerminalSlidingModeController
77

88
thruster_allocation_matrix_controller:
99
type: thruster_allocation_matrix_controller/ThrusterAllocationMatrixController

‎auv_control_demos/individual_controller/README.md‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
# Example 1: Individual Controller
22

3-
This example uses the [integral sliding mode controller](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/tree/main/velocity_controllers) to demonstrate how to launch a single controller.
3+
This example uses the [integral sliding mode controller](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/tree/main/twist_controllers) to demonstrate how to launch a single controller.
44

55
## Tutorial Steps
66

@@ -21,7 +21,7 @@ This example uses the [integral sliding mode controller](https://github.com/Robo
2121
The output should resemble:
2222

2323
```bash
24-
adaptive_integral_terminal_sliding_mode_controller velocity_controllers/AdaptiveIntegralTerminalSlidingModeController active
24+
adaptive_integral_terminal_sliding_mode_controller twist_controllers/AdaptiveIntegralTerminalSlidingModeController active
2525
```
2626

2727
3. Check that the hardware interfaces have been properly loaded by opening
@@ -148,7 +148,7 @@ This example uses the [integral sliding mode controller](https://github.com/Robo
148148
- [individual.launch.py](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/blob/main/auv_control_demos/individual_controller/launch/individual.launch.py)
149149

150150
- Controllers:
151-
- [Adaptive Integral Terminal Sliding Mode Controller](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/tree/main/velocity_controllers)
151+
- [Adaptive Integral Terminal Sliding Mode Controller](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/tree/main/twist_controllers)
152152

153153
- Controller Config:
154154
- [individual_controller.yaml](https://github.com/Robotic-Decision-Making-Lab/auv_controllers/blob/main/auv_control_demos/individual_controller/config/individual_controller.yaml)

‎auv_control_demos/individual_controller/config/individual_controller.yaml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,7 @@ controller_manager:
33
update_rate: 30 # Hz
44

55
adaptive_integral_terminal_sliding_mode_controller:
6-
type: velocity_controllers/AdaptiveIntegralTerminalSlidingModeController
6+
type: twist_controllers/AdaptiveIntegralTerminalSlidingModeController
77

88
adaptive_integral_terminal_sliding_mode_controller:
99
ros__parameters:

‎auv_control_demos/package.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,7 @@
33
<package format="3">
44

55
<name>auv_control_demos</name>
6-
<version>0.4.2</version>
6+
<version>0.5.0</version>
77
<description>Example package that includes demos for using auv_controllers in individual and chained modes</description>
88

99
<maintainer email="evanp922@gmail.com">Evan Palmer</maintainer>

‎auv_control_msgs/CHANGELOG.md‎

Lines changed: 4 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,9 @@
11
# Changelog for package auv_control_msgs
22

3+
## 0.5.0 (2026-05-29)
4+
5+
## 0.4.3 (2026-04-25)
6+
37
## 0.4.2 (2026-03-30)
48

59
- Implements the ImpedanceStateStamped message.

‎auv_control_msgs/package.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,7 @@
33
<package format="3">
44

55
<name>auv_control_msgs</name>
6-
<version>0.4.2</version>
6+
<version>0.5.0</version>
77
<description>Custom messages for AUV controllers</description>
88

99
<maintainer email="evanp922@gmail.com">Evan Palmer</maintainer>

‎auv_controllers/CHANGELOG.md‎

Lines changed: 4 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,9 @@
11
# Changelog for package auv_controllers
22

3+
## 0.5.0 (2026-05-29)
4+
5+
## 0.4.3 (2026-04-25)
6+
37
## 0.4.2 (2026-03-30)
48

59
- Implements the ImpedanceStateStamped message

0 commit comments

Comments
 (0)