BlueROV2 MPC

This work implements a NMPC controller for BlueROV2 with ROS.

Prerequisites

Python 3.7
ROS (ROS noetic recommended)
uuv simulator
MAVROS
Acados

We also provide its docker image to save you some time.

Getting started

Install python 3.7 and its dependencies

sudo add-apt-repository ppa:deadsnakes/ppa
sudo apt update
sudo apt install -y python3.7

apt-get install -y python3-pip

pip3 install numpy matplotlib scipy future-fstrings casadi>=3.5.1 setuptools
sudo apt-get install -y python3.7-tk

Install Acados

git clone https://github.com/acados/acados.git
cd acados
git submodule update --recursive --init
mkdir -p build
cd build
cmake -DACADOS_WITH_QPOASES=ON -DACADOS_WITH_OSQP=OFF/ON -DACADOS_INSTALL_DIR=<path_to_acados_installation_folder> ..
make install -j4

pip install -e ~/acados/interfaces/acados_template

echo 'export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:"/root/acados/lib"' >> ~/.bashrc 
echo 'export ACADOS_SOURCE_DIR="/root/acados"' >> ~/.bashrc
source ~/.bashrc

Install ros uuv-simulator packages

sudo apt-get install -y ros-noetic-geodesy
mkdir -p ~/catkin_ws/src && \
cd ~/catkin_ws/src && \
git clone --branch noetic https://github.com/arturmiller/uuv_simulator.git

Install then compile this package

cd ~/catkin_ws/src && \
git clone --branch noetic https://github.com/arturmiller/uuv_simulator.git

Please edit CMakelists.txt here and here if you put your acados in otherwise directory. Modify the line set(acados_include "~/acados/include") and set(acados_lib "~/acados/lib")

Then do

cd ~/catkin_ws/src/bluerov2/bluerov2_dobmpc/scripts && \
yes | python3 generate_c_code.py

and

cd ~/catkin_ws/src/bluerov2/bluerov2_mpc/scripts && \
yes | python3 generate_c_code.py

The last commands basically run generate_c_code.py at here and here.

Finally, do

cd ~/catkin_ws && catkin_make

Start simulation without controller

Ocean_waves in uuv simulator is set as default world.

Quick start to initialize the Gazebo world and add blueROV2 vehicle

roslaunch bluerov2_gazebo quick_start.launch

Or start with thruster manager

roslaunch bluerov2_gazebo start_with_thruster_manager.launch

With thruster manager, forces and moments can be published to topic /bluerov2/thruster_manager/input.

Start simulation with PID controller

Start PID controller with teleop (using joystick)

roslaunch bluerov2_gazebo start_pid_demo_with_teleop.launch

Or start PID Controller without teleop

roslaunch bluerov2_gazebo start_pid_demo.launch

Further trajectory tracking tasks can be done with uuv_control_utils package, such as following linear trajectory

roslaunch uuv_control_utils send_waypoints_file.launch uuv_name:=bluerov2 interpolator:=linear

Or following helical trajectory

roslaunch uuv_control_utils start_helical_trajectory.launch uuv_name:=bluerov2 n_turns:=2

Start simulation with MPC controller

A demonstration of starting MPC controler to follow circular trajectory can be launched by

roslaunch bluerov2_gazebo start_mpc_demo.launch

The bluerov2_mpc package also includes more trajectory following tasks such as following leminscate path and self defined waypoints.

Disturbance generator

The uuv simulator provides disturbance generation functions for testing the vehicle.

A demonstration of starting simulation with random current disturbances can be launched by

roslaunch bluerov2_gazebo start_pid_with_current.launch    (with PID controller)
roslaunch bluerov2_gazebo start_mpc_with_current.launch    (with MPC controller)

Disturbances can also be generated by using ROS service call

rosservice call /hydrodynamics/set_current_velocity_model "{mean: 0.0, min: 0.0, max: 0.0, noise: 0.0, mu: 0.0}"
rosservice call /hydrodynamics/set_current_horz_angle_model "{mean: 0.0, min: 0.0, max: 0.0, noise: 0.0, mu: 0.0}"
rosservice call /hydrodynamics/set_current_vert_angle_model "{mean: 0.0, min: 0.0, max: 0.0, noise: 0.0, mu: 0.0}"

HKPolyU-UAV / bluerov2