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POSIM-Control

한국어

Native Gazebo controllers for a surface leader and follower, plus Python policies for speed, rough water, stability and recovery. Controllers apply propulsion to physical models. WWW-POSIM supplies collision-checked paths and observes measured progress.

Python policies

Python 3.10 or later is required.

git clone https://github.com/IOES-Lab/POSIM-Control.git
cd POSIM-Control
python -m venv .venv
. .venv/bin/activate
python -m pip install -e .

On Windows, activate .venv\Scripts\activate instead.

from posim_control.speed import target_speed
from posim_control.stability import tilt_degrees

speed = target_speed(near_port=False, canal=False, clearance=5.)
tilt = tilt_degrees({"x": 0., "y": 0., "z": 0., "w": 1.})

Native plugins

Build in a POSIM environment with CMake 3.22+, C++17 and Gazebo Jetty development packages (gz-sim and gz-plugin).

cmake -S native -B build -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX="$PWD/install"
cmake --build build -j 2
ctest --test-dir build --output-on-failure
cmake --install build
export GZ_SIM_SYSTEM_PLUGIN_PATH="$PWD/install/lib${GZ_SIM_SYSTEM_PLUGIN_PATH:+:$GZ_SIM_SYSTEM_PLUGIN_PATH}"

Attach wwos::PromotionPilot at the world level and wwos::PromotionFollower to a follower model. Plugin files are libwwos-promotion-pilot and libwwos-promotion-follower, with the platform library suffix.

The current controller uses models named wamv and wamv_follower and their left/right propeller joint topics. The caller creates those models, loads terrain and checks every commanded corridor. Models and wave systems come from POSIM and its configured dependencies.

Send gz.msgs.Double_V to /wwos/promotional/path as [mode, speed_mps, count, x0, y0, ..., origin_epoch]. Coordinates are local metres. Re-send a valid plan within three wall seconds. Empty plans neutralize thrust. Status is published on /wwos/promotional/pilot; leader odometry is on /model/wamv/odometry.

  • Mode 1: propulsion along the path
  • Mode 2: propulsion recovery
  • Mode 3: bounded physical towing assistance
  • Maximum waypoint count: 256
  • Leader cruise cap: 10.5 m/s
  • Follower speed cap: 11.9 m/s
  • Follower target separation: 38 m
  • Rough-water speed cap: 7 m/s
  • Measured shallow-water cap: 6 m/s
  • Canal and unavailable-depth cap: 4 m/s

The follower follows measured leader poses. Clock, progress, tilt and rough-water policies use actual observations. Recovery helpers propose terrain-checked motion; the caller authorizes and reports assisted recovery.

Structure

Path Contents
src/posim_control/speed.py Depth/canal caps and rough-water hysteresis
stability.py Tilt measurement and capsize policy
recovery.py Clock/progress checks and escape candidates
arrival.py Arrival estimate from measured progress
native/Pilot.cc, Follower.cc Gazebo propulsion systems
native/Following.hh, AttitudeSafety.hh, VoyageLimits.hh Formation law and safety limits
native/tests/, tests/ Controller and policy tests

Tests without Gazebo

python -m unittest discover -s tests
cmake -S native -B build-policy -DPOSIM_CONTROL_BUILD_PLUGINS=OFF -DCMAKE_BUILD_TYPE=Release
cmake --build build-policy -j 2
ctest --test-dir build-policy --output-on-failure

Code: Apache-2.0. See source notices.