thruster_hardware

thruster_hardware implements a ros2_control system hardware interface for individual thruster-level control. This is accomplished by dynamically setting the ArduSub SERVON_FUNCTION parameters for each thruster to PWM passthrough using MAVROS.

Important

Controllers that use the thruster hardware interface should be launched after MAVROS has fully loaded the "param", "command", and "rc_io" plugins.

Caution

Please exercise caution when using PWM passthrough. This mode disables all ArduSub arming checks. It is also recommended that you store a backup of the ArduSub parameters should the hardware interface fail to restore the default parameters.

Plugin Library

thruster_hardware/ThrusterHardware

Command Interfaces

• <joint_name>/pwm

Parameters

• param_name: The name of ArduSub servo function parameter associated to with a specific thruster (e.g., SERVO1_FUNCTION). [string]
• default_param_value: The default value of the servo function parameter. The thruster hardware will attempt to restore these parameters on deactivation. [integer]
• channel: The thruster channel number. [integer]
• neutral_pwm (optional): The neutral PWM value for the thruster. This defaults to 1500. [integer]