davihdsantos / wamv_speed_control

This package provides a simple speed control (surge, sway, yaw) for wamv T configuration, to interface with the navigation stack from a cmd_vel topic.

wamv_speed_control

This package provides a simple speed control (surge, sway, yaw) for wamv T configuration, providing a cmd_vel topic as an interface. This is the basic functionality needed to use some high-level navigation packages, such as the navigation_stack.

before running the tests, build and source your vrx environment. This stack runs with the vrx 1.3.0

Test the speed_control

Build and source the wamv_speed_control package. run:

roslaunch vrx_speed_ctrl pose_control_world.launch

send commands to cmd_vel:

rostopic pub -r 10 /wamv/cmd_vel geometry_msgs/Twist "linear:
x: 1.0
y: 1.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 1.0"

Test the openai_example project

This uses openai reinforcement learning in a simple task environment.

roslaunch vrx_speed_ctrl vrx_loc_world.launch
roslaunch wamv_openai_ros_example start_training.launch

the task environment:

If you add:

<physics type="ode">
  <real_time_update_rate>0</real_time_update_rate>
</physics>

to vrx_gazebo/worlds/ocean.world.xacro and rebuild your vrx environment the simulation will run faster than real-time (as fast as your machine can run it).