We are using VMRC simulator for testing our control system. We build simple PI control system. Inside PID Control subsystem is below. We built Matlab/Simulink model for wam_v control system and convert it to C++ ROS node.
Recently, VMRC simulation package was uploaded to this URL. We succeeded to build this software and write Japanese Documentation about this package
We build object recognition system using point cloud data. This node are composed of ros_ship_recognition package. The object_recognition_node detect objects by using SHOT features. We conducted a presentation about this node in ROS Japan user group meeting in Kansai. 3D Object Detection using PCL (Point Cloud Library) from masaya kataoka Demonstration movie is here.
We are building gazebo/ROS simulation package for WAM-V. Our simulator has a such characteristics. 1. buoyancy simulation We calculate buoyancy from archimedes’ principle and simulate it! 2. driving force simulation Ship’s driving force are calculated from it’s speed and propeller rotational speed. We develop driving force controller and control ship’s driving force. 3. Visualization We made […]