ASV Towing Controller

ROS2 implementation of an adaptive pendulum-based controller for an autonomous surface vehicle (ASV) towing system. The controller uses line-of-sight (LOS) guidance for path following and an adaptive control scheme for managing the towed payload dynamics.

Features

• Line-of-sight (LOS) guidance for path following
• Pendulum-based adaptive control for towing dynamics
• ROS2 integration with Gazebo simulation
• Configurable controller parameters
• Support for GPS waypoint following (lat/lon to local ENU conversion)

Dependencies

This controller is designed to work with the Marine Robotics Simulation Framework, which provides the simulation environment and ASV/ROV models.

Other dependencies:

• ROS2
• nav_msgs
• std_msgs
• numpy

Build Instructions

1. Clone the repository into your ROS2 workspace:

   cd ~/your_workspace/src
   git clone https://github.com/ImStian/asv_controller.git

2. Source your ROS2 environment:

   source /opt/ros/humble/setup.bash

3. Build the package:

   cd ..
   colcon build --symlink-install --merge-install --packages-select asv_controller

4. Source the workspace:

   source install/setup.bash

Usage

Launch the controller node:

ros2 launch asv_controller asv_controller.launch.py

Parameters

The following parameters can be configured in the launch file or via the ROS2 parameter system:

• U: Desired surge speed for LOS guidance (m/s)
• Delta: Lookahead distance for LOS guidance (m)
• k: Path convergence gain for LOS guidance
• L: Pendulum controller parameter (length of 'rod')
• epsilon: Pendulum controller adaptation rate
• k_v: Velocity feedback gain for pendulum controller
• k_a: Adaptation gain for pendulum controller
• m_virtual: Virtual mass for heading controller
• path_file: Path to YAML file with waypoints
• ref_lat: Reference latitude for ENU conversion
• ref_lon: Reference longitude for ENU conversion
• ref_alt: Reference altitude for ENU conversion

Waypoint Format

The waypoint file should be in YAML format:

waypoints:
  - [lat1, lon1]
  - [lat2, lon2]
  # ...

Topics

Subscribed Topics

• /model/blueboat/odometry (nav_msgs/Odometry): ASV odometry
• /model/rov/odometry (nav_msgs/Odometry): ROV/towed payload odometry

Published Topics

• /model/blueboat/joint/motor_port_joint/cmd_thrust (std_msgs/Float64): Port thruster command
• /model/blueboat/joint/motor_stbd_joint/cmd_thrust (std_msgs/Float64): Starboard thruster command

License

Apache-2.0