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Improve thruster manager #574

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2 changes: 1 addition & 1 deletion ...or/gnc/subjugator_thruster_manager/include/subjugator_thruster_manager/thruster_manager.h
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,6 @@ class ThrusterManager : public rclcpp::Node

private:
rclcpp::Subscription<geometry_msgs::msg::Wrench>::SharedPtr wrench_subscription_;
Eigen::VectorXd reference_wrench_; // TODO: change to Vector6d
Eigen::MatrixXd tam_;
int const dof_ = 6;
int const thruster_count_ = 8;
Expand All @@ -25,6 +24,7 @@ class ThrusterManager : public rclcpp::Node

rclcpp::TimerBase::SharedPtr timer_;
rclcpp::Publisher<subjugator_msgs::msg::ThrusterEfforts>::SharedPtr thrust_publisher_;
subjugator_msgs::msg::ThrusterEfforts efforts_;

void wrench_callback(geometry_msgs::msg::Wrench::SharedPtr msg);
void timer_callback();
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34 changes: 17 additions & 17 deletions src/subjugator/gnc/subjugator_thruster_manager/src/thruster_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,6 @@
// Construct node class
ThrusterManager::ThrusterManager() : Node("thruster_manager")
{
reference_wrench_ = Eigen::VectorXd::Zero(6);
this->declare_parameter("thruster_cap", 0.0);
thruster_cap_ = this->get_parameter("thruster_cap").as_double();

Expand All @@ -41,6 +40,7 @@ ThrusterManager::ThrusterManager() : Node("thruster_manager")
"with "
"ros2 launch, and that config values are set.");
}
tam_ = tam_.completeOrthogonalDecomposition().pseudoInverse();

wrench_subscription_ = this->create_subscription<geometry_msgs::msg::Wrench>(
"cmd_wrench", 1,
Expand All @@ -57,13 +57,10 @@ void ThrusterManager::wrench_callback(geometry_msgs::msg::Wrench::SharedPtr msg)
// RCLCPP_INFO(this->get_logger(), "Heard wrench: [%.2f, %.2f, %.2f], [%.2f, %.2f, %.2f]", msg->force.x,
// msg->force.y,
// msg->force.z, msg->torque.x, msg->torque.y, msg->torque.z);
this->reference_wrench_ << msg->force.x, msg->force.y, msg->force.z, msg->torque.x, msg->torque.y, msg->torque.z;
}
Eigen::VectorXd wrench;
wrench << msg->force.x, msg->force.y, msg->force.z, msg->torque.x, msg->torque.y, msg->torque.z;

// Compute and publish thruster efforts
void ThrusterManager::timer_callback()
{
Eigen::VectorXd thrust_values(tam_.completeOrthogonalDecomposition().pseudoInverse() * reference_wrench_);
Eigen::VectorXd thrust_values(tam_ * wrench);

// check that the allocated thrust is not over the thruster cap (typically 1.0), and if it is, rescale all thrusters
double biggest_thrust = 0;
Expand All @@ -89,17 +86,20 @@ void ThrusterManager::timer_callback()
thrust_values = thrust_values * (thruster_cap_ / biggest_thrust);
}

auto msg = subjugator_msgs::msg::ThrusterEfforts();
msg.thrust_frh = thrust_values[0];
msg.thrust_flh = thrust_values[1];
msg.thrust_brh = thrust_values[2];
msg.thrust_blh = thrust_values[3];
msg.thrust_frv = thrust_values[4];
msg.thrust_flv = thrust_values[5];
msg.thrust_brv = thrust_values[6];
msg.thrust_blv = thrust_values[7];
efforts_.thrust_frh = thrust_values[0];
efforts_.thrust_flh = thrust_values[1];
efforts_.thrust_brh = thrust_values[2];
efforts_.thrust_blh = thrust_values[3];
efforts_.thrust_frv = thrust_values[4];
efforts_.thrust_flv = thrust_values[5];
efforts_.thrust_brv = thrust_values[6];
efforts_.thrust_blv = thrust_values[7];
}

this->thrust_publisher_->publish(msg);
// Compute and publish thruster efforts
void ThrusterManager::timer_callback()
{
this->thrust_publisher_->publish(efforts_);
}

int main(int argc, char **argv)
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