Merge branch 'development' into thrust_allocation_rework

vortexntnu · Jun 21, 2024 · a519eff · a519eff
2 parents c8390a2 + 7c1e6f1
commit a519eff
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Showing 3 changed files with 3 additions and 1 deletion.
diff --git a/auv_setup/config/robots/orca.yaml b/auv_setup/config/robots/orca.yaml
@@ -36,6 +36,7 @@
           [ 0.41500,  0.28400, -0.31800, -0.44900, -0.44900, -0.31800,  0.28400,  0.41500,  # x-position of thrusters
             0.16900,  0.16300,  0.16300,  0.16900, -0.16900, -0.16300, -0.16300, -0.16900,  # y-position of thrusters
             0.07600,  0.08200,  0.08200,  0.07600,  0.07600,  0.08200,  0.08200,  0.07600 ] # z-position of thrusters         
+
         rate_of_change:
           max: 1 # Maximum rate of change in newton per second for a thruster
 

diff --git a/mission/joystick_interface_auv/config/param_joystick_interface_auv.yaml b/mission/joystick_interface_auv/config/param_joystick_interface_auv.yaml
@@ -2,7 +2,7 @@ joystick_interface_auv:
   ros__parameters:
     surge_scale_factor: 60.0
     sway_scale_factor: 60.0
-    yaw_scale_factor: 60.0
+    yaw_scale_factor: 25.0
     heave_scale_factor: 17.5
     roll_scale_factor: 30.0
     pitch_scale_factor: 20.0
diff --git a/motion/thruster_interface_auv/thruster_interface_auv/thruster_interface_auv_node.py b/motion/thruster_interface_auv/thruster_interface_auv/thruster_interface_auv_node.py
@@ -67,6 +67,7 @@ def __init__(self):
         # Start clock timer for driving thrusters every 0.2 seconds
         # Declare "self.thruster_forces_array" in case no topic comes in at the first possible second
         self.thruster_forces_array = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+
         self.timer = self.create_timer(self.thrust_timer_period,
                                        self._timer_callback)