Exemple for controlling the vehicle

[TheGreatLebowski]

Hello,

In the section Configuring the thruster manager of the tutorial, it is written at the end

To command the vehicle, you have to start the thruster manager and publish a ROS Wrench message to the input topic /<ROBOT_NAME or ROBOT_NAMESPACE>/thruster_manager/input with the wrench command to the vehicle.

Can you add an example ? And also I don't understand where I should put the command ...

Thank you for your help !

[TheGreatLebowski]

I've maybe found an example but he is not working :

rostopic pub /submarine/thrusters/0/thrust_wrench geometry/WrenchStamped "header:
seq: 0
stamp:
  secs: 0
  nsecs: 0
frame_id=''
wrench:
  force:
    x: value
    y: value
    z: value
  torque:
    x: value
    y: value
    z: value"

But this error appears :

/opt/melodic/lib/python2.7/dist-packages/rostopic/init.py:1782: TAMLLoad Warning: calling yaml.load() without Loader=... is deprecated, as the default to Loader is unsafe. Please read https://msg.pyyaml.org/load for full details. pub_args.append(yaml.load(arg)) publishing and latching message.

https://github.com/yaml/pyyaml/wiki/PyYAML-yaml.load(input)-Deprecation

A solution is available on this link, but doesn't work on my machine ...

Is my example wrong ? Or there is a bug ?

If not, apparently, you should specify the Loader argument into the load() function like this :

yaml.load(input, Loader=yaml.FullLoader) (More details are on the link)

EDIT :

You have to change the file where the error occurs, in my case I had to change the init.py file, I just converted the function yaml.load() by yaml.safe_load() and after it is possible to publish into the topic ROBOT_NAMESPACE>/thruster_manager/input but the submarine is still not moving ...

[EmmaShou]

I am also confused by the end of this tutorial, have you made any progress? Thanks!

[TheGreatLebowski]

Hello @EmmaShou, I've find a solution, you can check my project https://github.com/TheGreatLebowski/submarine, I've write a simple documentation (Still in progress) where I've put some of the problem I got ! If you don't find what is your problem send me a message, maybe I can help you !

[EmmaShou]

Hi Alexandre,

Thank you -- that's really helpful! Can I ask you another question? Have you been able to make your submarine either follow way-points or move according to a function? There are UUV simulator tutorials about this but I'm having a difficult time getting those tutorials to work.

Thanks a ton, Emma

On Mon, Nov 18, 2019 at 11:43 AM Alexandre Colon [email protected] wrote:

Hello @EmmaShou https://github.com/EmmaShou, I've find a solution, you can check my project https://github.com/TheGreatLebowski/submarine, I've write a simple documentation (Still in progress) where I've put some of the problem I got ! If you don't find what is your problem send me a message, maybe I can help you !

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[TheGreatLebowski]

Hi Emma ! No I am currently working on it, when I will find a solution I will add it in my github project, but if you find something please let me know !

[EmmaShou]

Thanks Alexandre!

If I find a solution I will let you know. Please let me know if you make progress

On Wed, Nov 20, 2019 at 8:37 AM Alexandre Colon [email protected] wrote:

Hi Emma ! No I am currently working on it, when I will find a solution I will add it in my github project, but if you find something please let me know !

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[pxalcantara]

@TheGreatLebowski Nice, could you, please create a PR with your new documentation? It would be very helpful to have your colaboration!

Thanks!