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Implement TPIK controller and AITSMC #51

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@evan-palmer evan-palmer commented Apr 2, 2025 •
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Changes Made

This is a large PR with several key changes:

  1. Implemented a inverse kinematics controller for control of UVMS
  2. Implemented the task priority IK solver for use in the IK controller
  3. Implemented an adaptive integral terminal sliding mode controller as an alternative to the integral sliding mode controller
  4. Upgraded to C++ 23
  5. Updated the issue templates to support the latest GitHub template syntax
  6. Semi-ported the Odom sensor that @JBVAkshaya implemented in ardusub_driver!29

Associated Issues

Testing

Testing is in-progress.

@evan-palmer
Updated ISMC to use twist stamped state message and refactored realti…
f4f4aa4 
…me buffers to copy message instead of pointer
@evan-palmer
starting port of tpik control
5d53119
@evan-palmer
Continued work on TPIK controller
a3b5c50
@evan-palmer
Started implementing task priority IK solver
adcc688
@evan-palmer
Implemented base tpik solver
eca8649
@evan-palmer
Finished initial implementation of constraints and task priority solver
dadda03
@evan-palmer
Cleanup
73c8c6b
@evan-palmer
Cleanup and starting to integrate pinocchio
9e0f315
@evan-palmer
missing change
1caaba4
@evan-palmer
Continuing to integrate pinocchio for jacobians
3e8a5ad
@evan-palmer
bedtime
edeab40
@evan-palmer
actually bedtime now
f70e311
@evan-palmer
Refactored solver
8810ae9
@evan-palmer
Finished initial version - starting build
b2e3dca
@evan-palmer
gym time baby
0aa8e88
@evan-palmer
solver compile working
4b59b0a
@evan-palmer
Started ik controller
71f141a
@evan-palmer
Wrote initial version of ik controller
e118e74
@evan-palmer
gym time baby
d105d86
@evan-palmer
ok actually gym time now
85117d2
@evan-palmer
ik controller compiles
9040aaf
@evan-palmer
Remove state subscriber
ba6db0f
@evan-palmer
Added odom sensorg
3603787
@evan-palmer
Added topic sensor readme
92a3b58
@evan-palmer
Updated to latest version of ros2_control api
4a08dab
@evan-palmer
Update cmakelists files
09f808b
@evan-palmer
updated dockerfile
1e0b35d
@evan-palmer
added structure for aitsmc
9498a80
@evan-palmer
Started aitsmc implementation
9a1e4c4
@evan-palmer
Implemented bare bones version of aitsmc
3370bfc
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Port TPIK controller from Angler Implement an adaptive SMC algorithm
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