====== Self-Tuning Gain Depth Controller for an AUV with a Mass Shifting Mechanism  ======
A self-tuning gain depth controller was developed and implemented in this project. The Light Autonomous Underwater Vehicle (LAUV) was used as the model for developing the controller.\\
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Please kindly clone the following packages to your workspace: \\
  * [[https://github.com/Liquid-ai/Plankton.git|Plankton]]
  * [[https://gitlab.com/amarr_lab/marine-gnc-course/project-2021/6210550614/lauv_descriptions.git|LAUV]]
  * [[https://gitlab.com/amarr_lab/marine-gnc-course/project-2021/6210550614/mass_shifter_auv.git|Mass-shifter plugin]]
  * [[https://gitlab.com/amarr_lab/marine-gnc-course/project-2021/6210550614/mass_shifter_controller.git|Controller]]

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(see the project for more information: [[https://gitlab.com/amarr_lab/marine-gnc-course/project-2021/6210550614|Project]])

==== 1. Launching the simulation world ====
On a terminal, type the following command:
<WRAP left round box 60%>
ros2 launch uuv_gazebo_worlds ocean_waves.launch
</WRAP>

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==== 2. Launching the LAUV model to the simulation ====
Open a new terminal, then type the following command:
<WRAP left round box 60%>
ros2 launch lauv_descriptions lauv_upload_default.launch.py
</WRAP>
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{{:project2021:6210550614:lauv_model.png?600|}}
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==== 3. Run the surge speed controller ====
Type the following command in a new terminal:
<WRAP left round box 60%>
ros2 run mass_shifter_controller surge_speed_control
</WRAP>
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By publishing a desired speed, the AUV will be hovering at that surge speed.
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==== 4. Run the mass-shifter controller ====
On a new terminal, type the following command:
<WRAP left round box 60%>
ros2 run mass_shifter_controller mass_shifter_control 
</WRAP>
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When the desired depth is published, the AUV will eventually go to the commanded position.