I run pid controller on uwsim based on the localization system I wrote, the vehicle move very slowly
I run pid controller on uwsim based on the localization system I wrote which means the current position is provided by my localization system instead of the topic such as "/g500/pose" and "/uwsim/girona_500/odom". No matter how big the kp is, the velocity of the auv is almost the same. I don't know why.
Asked by ZYS on 2016-02-25 09:39:58 UTC
Comments
I think I need more information in this question. I guess you are already using the underwater_vehicle_dynamics. Your controller is publishing to the thrusters topic?. If you are running the default launch, have you disabled the keyboard controller?. Also note g500 thrusters have a 1.0 max effort.
Asked by Javier Perez on 2016-02-25 10:34:20 UTC
Thank you so much. After I disabled the keyboard controller, the speed is much more fast. But why?
Asked by ZYS on 2016-02-25 10:58:47 UTC
keyboard controller sends periodically the readings from the keyboard. If it reads nothing it sends 0 to the thrusters. So some simulation steps were "wasted" with 0.0 thruster speed instead of the speed you were sending.
Asked by Javier Perez on 2016-02-25 11:18:14 UTC
Thank you! Your suggestion is really helpful!
Asked by ZYS on 2016-02-25 14:38:37 UTC