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| project2021:6210550614:proj-6210550614-akira [2022/05/23 14:26] – 6210550614 | project2021:6210550614:proj-6210550614-akira [2022/05/23 14:34] (current) – 6210550614 | ||
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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 | ||
| + | </ | ||
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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 | ||
| + | </ | ||
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| + | When the desired depth is published, the AUV will eventually go to the commanded position. | ||
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