planning

Disturbance and target generator (the virtual fish) for simulation runs.

  • Build type: ament_python

  • Version: 0.0.0

  • License: MIT

  • Maintainer(s): nzge

  • Source: src/planning/

Executables

Command (ros2 run)

Target

ros2 run planning fish_agent

planning.fish_agent:main

Launch files

fish.launch.py

ros2 launch planning fish.launch.py

Source: planning/launch/fish.launch.py

Parameters & configuration

fish_params.yaml

Node fish_agent

Parameter

Default

Type

mean_force

3.5

float

amplitude

1.2

float

frequency

0.5

float

publish_frequency

50.0

float
Full file
# Disturbance profile for the virtual "fish" (simulation only).
# The fish applies this force to its body in MuJoCo; the line transmits it to
# the rod tip where the load cell measures the resulting tension.
fish_agent:
  ros__parameters:
    mean_force: 3.5        # N, steady pull — centred on controller target
    amplitude: 1.2         # N, sinusoidal "fight" about the mean
    frequency: 0.5         # Hz, how fast the fish thrashes
    publish_frequency: 50.0  # Hz, command update rate

Source: planning/config/fish_params.yaml

Dependencies

  • Runtime: rclpy std_msgs

  • Test: ament_copyright ament_flake8 ament_pep257 python3-pytest

Python API

Full module/class/function reference for planning is generated automatically: