visual_virtual_tether

This is an attempt to clean up and further develop based on the original work by Kanzhong. The original work is in Kanzhong branch

Parameters

~virtual_tether/gain_kp

Default to 1. P gain for the PD controller for virtual tether.

~virtual_tether/gain_kd

Default to 0. D gain for the PD controller for virtual tether. This value must be adjusted in small increment (0.0001) to avoid agressive manoeuvre.

~virtual_tether/tag_yaw_offset

Default to 0. Yaw offset for tag detection. In case the tag is not mounted with the correct orientation on Bluerov, this parameter can be used to set an offset.

~virtual_tether/local_dead_reckoning_timeout

Default to 5. This value determines how old the last known tag detection can be used for dead reckoning. Since this is a local dead reckoning in the camera's coordinate system, it is not recommended to set the timeout to a large value.

~virtual_tether/local_dead_reckoning_fixed_velocity

Default to 0.1. This value is used to restrict the velocity of dead reckoning manoeuvre. Set to 0 to disable fixed velocity. However, it is recommended to use a fixed velocity for stability.

~virtual_tether_mallard_mixer/gain_x

Overall gain for liner velocity of robot in x-axis.

~virtual_tether_mallard_mixer/gain_y

Overall gain for liner velocity of robot in y-axis.

~virtual_tether_mallard_mixer/gain_yaw

Overall gain for yaw velocity of robot in rad/s.

~virtual_tether_mallard_mixer/joy_gain_x

Joy gain for liner velocity of robot in x-axis.

~virtual_tether_mallard_mixer/joy_gain_y

Joy gain for liner velocity of robot in y-axis.

~virtual_tether_mallard_mixer/joy_gain_yaw

Joy gain for yaw velocity of robot in rad/s.

~virtual_tether_mallard_mixer/vt_gain_x

Virtual tether gain for liner velocity of robot in x-axis.

~virtual_tether_mallard_mixer/vt_gain_y

Virtual tether gain for liner velocity of robot in x-axis.

~virtual_tether_mallard_mixer/vt_gain_yaw

Virtual tether gain for yaw velocity of robot in rad/s.

What's new

21/01/2025

• Replaced P control with PD control for virtual tether.
• Added local dead reckoning
• Added gain parameters for mixing joystick and virtual tether velocity inputs
• Added dynamic reconfiguration