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Optimization Controller for Review #23

Merged
merged 113 commits into from
May 14, 2024
Merged

Optimization Controller for Review #23

merged 113 commits into from
May 14, 2024

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AndrewHWang1605
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Configured with automated test (similar to pd_test), and passes.
Quite nice tracking behavior and gas expenditure on sim! Tested and runs on hardware (hardware experiments to test tracking/gas expenditure pending)

AndrewHWang1605 and others added 30 commits January 17, 2024 15:05
@AndrewHWang1605
Add trinary thruster controller layer
8a4eae3
@AndrewHWang1605
Add framework for optimization python node
77857b7
@AndrewHWang1605
Add sim opt launch
07b0fd0
@AndrewHWang1605
Small changes on VM
0f1ff0b
@AndrewHWang1605
Tweak Cmakelists
eab4bac
@AndrewHWang1605
Test thruster commands sending from optimization controller node
de53d63
@AndrewHWang1605
Remove PWM controller from running
be63b77
@AndrewHWang1605
Convert magic number constants into ROS parameters
3f4bccb
@AndrewHWang1605
Merge
3626bb9
@AndrewHWang1605
Ported over optimization controller into opt_ctrl_py_node
583fb81
@AndrewHWang1605
Debugging checkpoint
9f61e71
@AndrewHWang1605
Small changes
db4360b
@AndrewHWang1605
Add flag and callback to handle loading of parameters after initializ…
d1f9dae 
…ation
@AndrewHWang1605
Add parameterization of goal
e79289e
@AndrewHWang1605
Debugging ROS params
3423456
@AndrewHWang1605
Temporary hardcode params for testing
767792f
@AndrewHWang1605
Fix setting goal as parameter
885de59
@AndrewHWang1605
Try diff syntax for accessing ROS params
c03516b
@AndrewHWang1605
Running in ROS stack, performance not great
fc52d44
@AndrewHWang1605
Tuning gains
702c89b
@AndrewHWang1605
Add metrics
ddbd7dc
@AndrewHWang1605
Merge branch 'andrew/optimization_controller' of https://github.com/S…
d97d7af 
…tanfordASL/freeflyer2 into andrew/optimization_controller
@AndrewHWang1605
Add metrics code
452e238
@AndrewHWang1605
Tuning controller
2ee2428
@AndrewHWang1605
Controller running on Europa
ff05abd
@AndrewHWang1605
Add controller for close proximity
e220ad3
@AndrewHWang1605
Continue tuning for orientation precision
31ed7f2
@AndrewHWang1605
Gain-scheduled controller works decently
c667d07
@alvinsunyixiao
Merge branch 'andrew/optimization_controller' into test_optimization_…
f50402e 
…ctrl
@alvinsunyixiao
Merge branch 'alvin/binary_thrust_driver' into test_optimization_ctrl
2bf6bfe
AndrewHWang1605 and others added 12 commits March 15, 2024 16:09
@AndrewHWang1605
Merge branch 'test_optimization_ctrl' of https://github.com/StanfordA…
f898015 
…SL/freeflyer2 into test_optimization_ctrl
@AndrewHWang1605
Change Fmax per actuator to 0.25 based on empirical testing
7d72d66
@AndrewHWang1605
Revert "Change Fmax per actuator to 0.25 based on empirical testing"
33e7bf6 
This reverts commit 7d72d66.
@AndrewHWang1605
Commit changes to testing scripts
e511518
@AndrewHWang1605
Merge branch 'test_optimization_ctrl' of https://github.com/StanfordA…
cfd0186 
…SL/freeflyer2 into test_optimization_ctrl
@AndrewHWang1605
Merge branch 'test_optimization_ctrl' into andrew/optimization_contro…
22238c8 
…ller
@AndrewHWang1605
Stop tracking experiment data files
7216c46
@AndrewHWang1605
Modify gitignore to ignore data files
7f7f06a
@AndrewHWang1605
Consolidate testing files
df43315
@AndrewHWang1605
Reformatted code with black
32b6504
@AndrewHWang1605
Add documentation onto controller metrics node
0748328
@AndrewHWang1605
Reformatted code with black
a74c10d
alvinsunyixiao
alvinsunyixiao reviewed Apr 25, 2024
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Awesome work, Andrew! This is very well written and documented. The code LGTM overall, left some comments mostly on the code styles and nitpicks.

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AndrewHWang1605 and others added 11 commits April 29, 2024 19:04
@AndrewHWang1605
Move state2vec and vec2state to a utility file, removed copy-pasted code
fd55bdf
@AndrewHWang1605
Remove unused l1-norm helper function
1ad0e2e
@AndrewHWang1605 @alvinsunyixiao
Update ff_sim/ff_sim/controller_metrics.py
1b1fd74 
Co-authored-by: Alvin Sun <alvinsunyixiao@gmail.com>
@AndrewHWang1605 @alvinsunyixiao
Update ff_sim/ff_sim/controller_metrics.py
3c20d70 
Change incorrect usage of self.get_clock().now() function

Co-authored-by: Alvin Sun <alvinsunyixiao@gmail.com>
@AndrewHWang1605 @alvinsunyixiao
Update ff_control/scripts/opt_ctrl_py_node
8fc30aa 
Add comment for helper function

Co-authored-by: Alvin Sun <alvinsunyixiao@gmail.com>
@AndrewHWang1605
Remove old commented-out code
dd418df
@AndrewHWang1605
Merge branch 'andrew/optimization_controller' of https://github.com/S…
59d8dba 
…tanfordASL/freeflyer2 into andrew/optimization_controller
@AndrewHWang1605
Remove unpack rosbag for this PR
b4bff61
@AndrewHWang1605
Renamed inject goal pose
6bbd2d7
@AndrewHWang1605
Change rolling average calculator to use queues
333a9d3
@AndrewHWang1605
Debugged queue-based rolling average metrics
b2345dc
alvinsunyixiao
alvinsunyixiao approved these changes May 13, 2024
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Awesome work!

@AndrewHWang1605 AndrewHWang1605 merged commit 595a297 into main May 14, 2024
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The optimization-based controller implemented here is functional and experimentally verified, but continuing work to improve (primarily speed up the optimization past 3Hz default control frequency) is already under way, and will be incorporated in a future PR.

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@alvinsunyixiao alvinsunyixiao alvinsunyixiao approved these changes

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@AndrewHWang1605 @alvinsunyixiao