planning.fish_agent¶
The ‘Fish’: an environmental disturbance source.
The fish is attached to the far end of the fishing line; the near end is tied to the rod tip. The fish does NOT talk to the controller. Instead it generates a pulling force that is applied to the fish body in the MuJoCo simulation. That force tensions the line tendon, and the load cell at the rod tip measures the resulting tension. The controller only ever reacts to that measured tension.
Output: std_msgs/Float64MultiArray on /fish_effort_controller/commands (effort, in Newtons, applied to the fish’s MuJoCo slide joint). ros2_control’s forward_command_controller forwards it to the ‘fish_force’ motor.
Classes¶
Functions¶
|
Module Contents¶
- class planning.fish_agent.FishAgent¶
Bases:
rclpy.node.Node- timer_cb()¶
- amplitude¶
- frequency¶
- mean_force¶
- pub¶
- publish_frequency¶
- start_time¶
- timer¶
- planning.fish_agent.main(args=None)¶