The package contains the library implementation of the closed-loop vehicle model identification by use of self-oscillations. The identification can be used as an identification action server.
ident_so package implements the closed loop vehicle model parameter identification by use of self oscillation. The package is based around the research work of asst.prof.dr.sc. Nikola Mišković. For citation use the following document:
Mišković, N., Vukić, Z., Bibuli, M., Bruzzone, G. and Caccia, M. (2011), Fast in-field identification of unmanned marine vehicles. J. Field Robotics, 28: 101–120. doi: 10.1002/rob.20374
The package is split into the identification library (libI_SO) and the identificaation action server (ident_so). It provides automatic identification and model parameter calculation based on the performed oscillation experiment.
The labust::control::SOIdentification class is a ROS agnostic implementation of the identification experiment. It can be used in any application.
EXAMPLE OF USAGE (TEST FILE)
labust::control::IdentificationNode
The
Usage with the GUI - link here.
Every ROS name in your code must be documented. Names are very important in ROS because they are the API to nodes and services. They are also capable of being remapped on the command-line, so it is VERY IMPORTANT THAT YOU LIST NAMES AS THEY APPEAR IN THE CODE. It is also important that you write your code so that the names can be easily remapped.
List of nodes:
ident_so is the identificaiton action server node.
$ rosrun ident_so ident_so
$ rosrun ident_so ident_so
Subscribes to:
Publishes to:
Reads the following parameters from the parameter server
This section is a catch-all for any additional tools that your package provides or uses that may be of use to the reader. For example:
Description of what this script/file does.
$ ./script_name [args]
$ ./script_name foo bar