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--- project2021:6210550614:proj-6210550614-akira [2022/05/21 05:51] – 6210550614
+++ project2021:6210550614:proj-6210550614-akira [2022/05/23 14:34] (current) – 6210550614
@@ Line 1: / Line 1: @@
-====== Project_name ======
+====== 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: \\
+  * [[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]]
-//Akira TECHAPATTARAPORN//
+\\
+(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>
+\\
+\\
+\\
+==== 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>
+\\
+\\
+\\
+\\
+{{:project2021:6210550614:lauv_model.png?600|}}
+\\
+\\
+\\
+==== 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>
+\\
+\\
+\\
+\\
+By publishing a desired speed, the AUV will be hovering at that surge speed.
+\\
+\\
+\\
+==== 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>
+\\
+\\
+\\
+\\
+When the desired depth is published, the AUV will eventually go to the commanded position.