kingfisher_control

This repository contains two ROS packages for controlling the Clearpath Kingfisher Unmanned Surface Vehicle (USV).

Packages

1. kingfisher_sid

This package contains scripts for performing automated system identification with the Clearpath Kingfisher USV.

Usage

To perform system identification, you can use the following launch file:

roslaunch kingfisher_sid run_sequence.launch [experiment_name]

2. kingfisher_rl

This package contains ROS wrappers to execute capture tasks with the Clearpath Kingfisher USV.

Usage

To execute capture agent in simulation, you can use the following command. It will start and agent that subscribes to to a goal message.

roslaunch kingfisher_rl capture_sim.launch policy:=weights.pth

For automated tests the following command can be handy.

roslaunch kingfisher_rl test_capture_sim.launch

Dependencies

• https://github.com/heron/heron_simulator

Make sure to have dependencies installed before using the packages in this repository.