MPC of ROM Joubert BB2 simulink model, using ROS2 as an initial step for combining with Machine Learning component.

The next update will incule component of NMPC with RBFNN and TensorFlow comparison

Description

This project, developed by Vladimir Petrov, focuses on depth and pitch control of AUV.

The provided launch files are:

L1_adaptive_node.cpp: ROS2 node responsible for L1 Adaptive depth control
publisher_node.cpp: ROS2 node responsible for gathering Dynamics data and wrapping data into ROS2 msg
subscriber_node.cpp: ROS2 node responsible for continuous running of Optimization Problem (ipopt .so library), providing optimal solution (path) to the problem.
buffer_node.cpp: ROS2 node responsible for storing control points and calculating inputs for ROM Joubert BB2 Simulink model

To get started with this package, you need to clone the repository into your workspace and build it.

Before proceeding, make sure you have the following dependencies installed:

Developed by Vladimir Petrov.

Name		Name	Last commit message	Last commit date
Latest commit History 2 Commits
build		build
install		install
log		log
msg		msg
src		src
CMakeLists.txt		CMakeLists.txt
README.md		README.md
control_systems.cpp		control_systems.cpp
control_systems.h		control_systems.h
decasteljau.cpp		decasteljau.cpp
decasteljau.h		decasteljau.h
delta_m.csv		delta_m.csv
delta_m_controlpoints.csv		delta_m_controlpoints.csv
delta_s.csv		delta_s.csv
delta_s_controlpoints.csv		delta_s_controlpoints.csv
delta_v.csv		delta_v.csv
delta_v_controlpoints.csv		delta_v_controlpoints.csv
libbebot_mpc_auv_v1.so		libbebot_mpc_auv_v1.so
main		main
main.cpp		main.cpp
package.xml		package.xml
plotting_bebot.py		plotting_bebot.py
q.csv		q.csv
q_controlpoints.csv		q_controlpoints.csv
state_space_matrices.cpp		state_space_matrices.cpp
state_space_matrices.h		state_space_matrices.h
theta.csv		theta.csv
theta_controlpoints.csv		theta_controlpoints.csv
w.csv		w.csv
w_controlpoints.csv		w_controlpoints.csv
z.csv		z.csv
z_controlpoints.csv		z_controlpoints.csv