Changed some dimensions and configs

Makefile

@@ -16,5 +16,14 @@ run: ## Run container
 	docker run -it --rm -p 6080:80 -v="/tmp/.ros/:/root/.ros/" \
 		-v=$$(pwd):/root/catkin_ws/src/ --name=${APP_NAME} ${APP_NAME}
 
+run-more: ## Run container
+	# Beware if you have less than --cpus cpus on your computer
+	# Access docker stuff at localhost:6080 (type into your browser)
+	# Volumes: -v directoryA:directoryB means the stuff stored in directoryB in the docker container
+	#				can also be seen from directoyA on your computer.
+	#				aka the pwd one shares the git repo between the docker container and your computer
+	docker run -it --rm -p 6080:80 -v="/tmp/.ros/:/root/.ros/" \
+		-v=$$(pwd):/root/catkin_ws/src/ --cpus=1.5 --name=${APP_NAME} ${APP_NAME}
+
 clean: ## Remove a container, running or not
 	docker rm $(APP_NAME) -f

descriptions/urab_sub_control/urab_sub_thruster_manager/config/thruster_manager.yaml

@@ -4,7 +4,8 @@ thruster_manager:
   thruster_topic_prefix: thrusters/
   thruster_topic_suffix: /input
   thruster_frame_base: thruster_
-  max_thrust: 40.0
+  max_thrust: 51.4 # Nominal forward thrust in Newtons (back is about 40.2)
+  max_clamp: 16 # Max nominal volts. 20V is maximum
   timeout: -1
   update_rate: 50 
 
@@ -22,7 +23,8 @@ thruster_manager:
   # You can set the conversion function to be:
   conversion_fcn: proportional
   conversion_fcn_params:
-    gain: 0.000004 # <rotorConstant> T200, 12V for a 2nd order curve fit: tau = gain * abs(x)*x
+    # Not sure if this changes anything??
+    gain: 0.000004 # <r otorConstant> T200, 12V for a 2nd order curve fit: tau = gain * abs(x)*x
 
   # 1.2)  If the conversion function set for the thruster plugins is the following:
   # <conversion>

descriptions/urab_sub_control/urab_sub_thruster_manager/scripts/thruster_allocator.py

@@ -39,6 +39,9 @@ def __init__(self):
         self.last_update = rospy.Time.now()
 
         # Subscriber to the wrench to be applied on the UUV
+        # This package's setup makes it so that the sub should respond to input
+        # coming from here, but we should probably replace this whole package
+        # with the controls team's package
         self.input_sub = rospy.Subscriber('thruster_manager/input',
                                           Wrench, self.input_callback)
 

descriptions/urab_sub_description/urdf/urab_sub_base.xacro

@@ -26,11 +26,11 @@
     Vehicle's parameters (remember to enter the model parameters below)
   -->
   <!-- Mass -->
-  <xacro:property name="mass" value="30.9"/>
+  <xacro:property name="mass" value="13"/>
   <!-- Describing the dimensions of the vehicle's bounding box: width, length, height -->
-  <xacro:property name="x_size" value="0.400"/>
-  <xacro:property name="y_size" value="0.400"/>
-  <xacro:property name="z_size" value="0.20066"/>
+  <xacro:property name="x_size" value="0.38449"/>
+  <xacro:property name="y_size" value="0.460"/>
+  <xacro:property name="z_size" value="0.286933"/>
   <!-- minion_usv_height is not really! It's just for run... We need first calculate the Fossen parameters -->
   <!-- Volume -->
   <xacro:property name="volume" value="0.0325"/>

scripts/test_thruster_power.py

@@ -2,17 +2,60 @@
 from std_msgs.msg import Float32
 from uuv_gazebo_ros_plugins_msgs.msg import FloatStamped
 from random import random
+from geometry_msgs.msg import Wrench, WrenchStamped, Vector3 
 
-THRUSTER_ID = '0'
-THRUSTER_POWER = 1000
-
-rospy.init_node('test_setter')
-pub_thrust = rospy.Publisher('/urab_sub/thrusters/' + THRUSTER_ID + '/input', FloatStamped, queue_size=10)
-rate = rospy.Rate(1)
-
-while not rospy.is_shutdown():
+def get_individual_thruster_publisher(thruster_id='0'):
+    return rospy.Publisher('/urab_sub/thrusters/' + thruster_id + '/input', FloatStamped, queue_size=10)
+def get_individual_thruster_message(power=1):
     msg = FloatStamped()
     msg.header.stamp = rospy.Time.now()
-    msg.data = THRUSTER_POWER
-    pub_thrust.publish(msg)
-    rate.sleep()
+    msg.data = power
+    return msg
+
+def get_thruster_manager_publisher():
+    return rospy.Publisher('/urab_sub/thruster_manager/input', Wrench, queue_size=10)
+def get_thruster_manager_message(fx=1, fy=1, fz=1, tx=1, ty=1, tz=1):
+    force = Vector3()
+    force.x = fx
+    force.y = fy
+    force.z = fz
+    torque = Vector3()
+    torque.x = tx
+    torque.y = ty
+    torque.z = tz
+    msg = Wrench()
+    msg.force = force
+    msg.torque = torque
+    return msg
+
+MODES = ['thruster_manager', 'thrusters_direct']
+NUM_THRUSTERS = 8
+mode = 1
+if __name__ == "__main__":
+    rospy.init_node('test_setter')
+
+    publishers = []
+    if MODES[mode] == 'thruster_manager':
+        publishers.append(rospy.Publisher('/urab_sub/thruster_manager/input', Wrench, queue_size=10))
+    elif MODES[mode] == 'thrusters_direct':
+        for thruster_id in range(NUM_THRUSTERS):
+            publishers.append(rospy.Publisher('/urab_sub/thrusters/{}/input'.format(thruster_id), FloatStamped, queue_size=10))
+
+    rate = rospy.Rate(1)
+
+    while not rospy.is_shutdown():
+        messages = []
+        # msg = get_individual_thruster_message(20)
+        if MODES[mode] == 'thruster_manager':
+            messages.append(get_thruster_manager_message(1000000000,0,0,1000000000,0,0))
+        elif MODES[mode] == 'thrusters_direct':
+            for __ in range(NUM_THRUSTERS):
+                msg = FloatStamped()
+                msg.header.stamp = rospy.Time.now()
+                msg.data = 10
+                messages.append(msg)
+
+        for i in range(len(publishers)):
+            publishers[i].publish(messages[i])
+        print('messages', messages)
+        rate.sleep()