From 32eb2b22927fc23db96ada89026940ab19b80d95 Mon Sep 17 00:00:00 2001
From: evannawfal <140864831+evannawfal@users.noreply.github.com>
Date: Sun, 10 Mar 2024 10:44:19 -0700
Subject: [PATCH] LUT mappings added (#234)

* LUT mappings added

* fixed comment on reynolds number

---------

Co-authored-by: Patrick Creighton <pcreighton429@gmail.com>
---
 src/global_launch/config/README.md    | 18 ++++++++++++++++++
 src/global_launch/config/globals.yaml |  6 ++++++
 2 files changed, 24 insertions(+)

diff --git a/src/global_launch/config/README.md b/src/global_launch/config/README.md
index b2daac721..60065e737 100644
--- a/src/global_launch/config/README.md
+++ b/src/global_launch/config/README.md
@@ -73,6 +73,24 @@ ROS parameters specific to the nodes in the local_pathfinding package.
 - _Acceptable Values_: `"bitstar"`, `"bfmtstar"`, `"fmtstar"`, `"informedrrtstar"`, `"lazylbtrrt"`, `"lazyprmstar"`,
   `"lbtrrt"`, `"prmstar"`, `"rrtconnect"`, `"rrtsharp"`, `"rrtstar"`, `"rrtxstatic"`, `"sorrtstar"`
 
+## Controller Parameters
+
+ROS parameters specific to the nodes in the Controller.
+
+### wingsail_ctrl_node
+
+**`reynolds_number`**
+
+- _Description_: The Reynolds number of the wind.
+- _Datatype_: `double`
+- _Range_: `(0.0, MAX_DOUBLE)`
+
+**`angle_of_attack`**
+
+- _Description_: The angle of attack of the sail.
+- _Datatype_: `double`
+- _Range_: `(-180.0, 180.0]`
+
 ## Boat Simulator Parameters
 
 ROS parameters specific to the nodes in the boat simulator.
diff --git a/src/global_launch/config/globals.yaml b/src/global_launch/config/globals.yaml
index b385741dd..7cec8befa 100644
--- a/src/global_launch/config/globals.yaml
+++ b/src/global_launch/config/globals.yaml
@@ -16,6 +16,12 @@ navigate_main:
    ros__parameters:
       path_planner: "rrtstar"
 
+# controller parameters
+wingsail_ctrl_node:
+    ros__parameters:
+        reynolds_number: [0.0, 1.0, 2.0]
+        angle_of_attack: [0.0, 1.0, 2.0]
+
 # boat_simulator parameters
 low_level_control_node:
    ros__parameters: