This is an old revision of the document!
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.
Please kindly clone the following packages to your workspace:
(see the project for more information: Project)
1. Launching the simulation world
On a terminal, type the following command:
ros2 launch uuv_gazebo_worlds ocean_waves.launch
2. Launching the LAUV model to the simulation
Open a new terminal, then type the following command:
ros2 launch lauv_descriptions lauv_upload_default.launch.py
