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Add list of controllers to batch mode #119

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a2991d5
update batch mode docs to add controller (and updates for other param…
andermi Sep 17, 2025
751c7fe
update available topics in plotjuggler tutorial
andermi Sep 17, 2025
47a92e7
Update SimulatorParameters.md
andermi Sep 18, 2025
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2 changes: 1 addition & 1 deletion docs/docs/Tutorials/Simulation/SimulatorOutputPlotjuggler.md
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Expand Up @@ -16,7 +16,7 @@ $ ros2 run plotjuggler plotjuggler


## Plotting Wave Energy Converter Data
In the window on the left that shows the available topics, select the /arhs_data, /power_data, /spring_data, battery_data, heavecone_data and /xb_data topics and click "OK". Note that for these topics to be available, the simulation needs to be running.
In the window on the left that shows the available topics, select the /arhs_data, /power_data, /spring_data, /battery_data, /trefoil_data and /latent_data topics and click "OK". Note that for these topics to be available, the simulation needs to be running.

- The selected topics will appear in the "Timeseries List" window, and selecting the carrot to the left of each topic will expand them and show the data that can be plotted. Note that these topics and data are the same as are visible using the ```$ ros2 topic list``` and ```$ ros2 topic echo``` commands from the command-line.

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43 changes: 33 additions & 10 deletions docs/docs/Tutorials/Simulation/SimulatorParameters.md
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Expand Up @@ -34,7 +34,9 @@ start-up:
- **Battery State-of-Charge**: The starting battery state of charge can be specified between 0 (empty) and 1 (full). A full battery can't absorb energy so more of the generated power will be diverted to the load-dump in the simulation. An empty battery will allow most or all of the generated energy to flow to the battery. This does not effect the physical behavior of the simulated buoy, but does effect the battery voltages and currents as the simulation progresses.
- **Battery EMF**: As an alternative to specifying the battery state of charge as a percentage, the zero-load battery voltage can be specified, between 270V (empty battery), and 320V (full battery).
- **Scale Factor**: The buoy (and simulator) implements a default control algorithm in which the current in the motor windings is set as a function of motor RPM, with the resulting torque opposing the motors motion. This approximately implements a linear damping behavior and the specified Scale Factor is multiplied by the default Winding-Current/RPM relationship before being applied. Allowable values are from 0.5 to 1.4, and the result is a simple way to change the damping the power-takeoff device is applying to the system. As discussed in a later tutorial, this relationship can be over-ridden with external code, so this Scale Factor only applies to the default behavior of the system.
- ** GUI Output**: The graphical output of the simulator can be turned on or off as needed, for large batches of runs that are meant to run un-attended this is probably not appropriate, but for single runs or debugging the graphical output can be useful.
- **GUI Output**: The graphical output of the simulator can be turned on or off as needed, for large batches of runs that are meant to run un-attended this is probably not appropriate, but for single runs or debugging the graphical output can be useful.
- **Spring Params**: The buoy implements an air spring component with two N2-filled chambers (upper and lower). These are modeled in the simulation by a combination of polytropic curves and heat transfer. Hysteresis is modeled by two different polytropic indices per chamber.
- **External Controllers**: The buoy behavior may be controlled by an external controller as described here: [Tutorial: Writing External C++ Controller](../ROS2/CppTemplate.md), or here: [Tutorial: Writing External Python Controller](../ROS2/PythonTemplate.md). These controllers may be run alongside the simulation by providing the controller ROS 2 package name and specific launch file.

## Example Batch File
The above parameters are specified in a .yaml file that the batch-run tool reads in before execution
Expand All @@ -45,19 +47,35 @@ begin with # are comments and have no impact.
#
# Batch-Specific Scalar Parameters
#
enable_gui: False
duration: 300
seed: 42
physics_rtf: 11
# Air spring consists of upper/lower N2-filled chambers
upper_spring_params: [1.4309, # upper polytropic index for increasing volume
1.4367, # upper polytropic index for decreasing volume
422156, # Pressure (Pa) setpoint from upper PV
0.0397, # Volume (m^3) setpoint from upper chamber polytropic PV curves
283.15] # Temperature (K) setpoint for upper heat transfer
lower_spring_params: [1.3771, # lower polytropic index for increasing volume
1.3755, # lower polytropic index for decreasing volume
1212098, # Pressure (Pa) setpoint from lower PV
0.0661, # Volume (m^3) setpoint from lower chamber polytropic PV curves
283.15] # Temperature (K) setpoint for lower heat transfer
#
# Run-Specific Parameters (Test Matrix)
#
physics_step: [0.001, 0.01, 0.1]
door_state: ['closed', 'open']
scale_factor: [0.5, 0.75, 1.0, 1.3, 1.4]
enable_gui: False
# May specify vector/scalar battery_soc (0.0 to 1.0) or battery_emf (270V to 320V)
battery_soc: [0.25, 0.5, 0.75, 1.0]
# battery_emf: [282.5, 295.0, 307.5, 320.0]
controller:
- package: 'buoy_api_cpp'
launch_file: 'torque_controller.launch.py'
- package: 'buoy_api_py'
launch_file: 'bias_damping.launch.py'
IncidentWaveSpectrumType:
- MonoChromatic:
# A & T may be vector/scalar in pairs (A & T same length)
Expand Down Expand Up @@ -129,12 +147,11 @@ that was performed, and the associated parameter. In this case it has the follo

```
# Generated 4 simulation runs
RunIndex, SimReturnCode, StartTime, rosbag2FileName, PhysicsStep, PhysicsRTF, Seed, Duration, DoorState, ScaleFactor, BatteryState, IncWaveSpectrumType;In
cWaveSpectrumParams
0, 0, 20230228212457, rosbag2_batch_sim_0_20230228212457, 0.01, 11.0, 42, 3.0, closed, 0.6, 0.5, Bretschneider;Hs:2.0;Tp:14.0
1, 0, 20230228212502, rosbag2_batch_sim_1_20230228212502, 0.01, 11.0, 42, 3.0, closed, 0.6, 0.5, Bretschneider;Hs:4.0;Tp:16.0
2, 0, 20230228212506, rosbag2_batch_sim_2_20230228212506, 0.01, 11.0, 42, 3.0, closed, 1.0, 0.5, Bretschneider;Hs:2.0;Tp:14.0
3, 0, 20230228212510, rosbag2_batch_sim_3_20230228212510, 0.01, 11.0, 42, 3.0, closed, 1.0, 0.5, Bretschneider;Hs:4.0;Tp:16.0
RunIndex, SimReturnCode, StartTime, rosbag2FileName, PhysicsStep, PhysicsRTF, Seed, Duration, DoorState, ScaleFactor, BatteryState, MeanPistonPosition, UpperSpringParams, LowerSpringParams, Controller, IncWaveSpectrumType;IncWaveSpectrumParams
0, 0, 20230228212457, rosbag2_batch_sim_0_20230228212457, 0.01, 11.0, 42, 3.0, closed, 0.6, 0.5, default, upper;defaults, lower;defaults, default, Bretschneider;Hs:2.0;Tp:14.0
1, 0, 20230228212502, rosbag2_batch_sim_1_20230228212502, 0.01, 11.0, 42, 3.0, closed, 0.6, 0.5, default, upper;defaults, lower;defaults, default, Bretschneider;Hs:4.0;Tp:16.0
2, 0, 20230228212506, rosbag2_batch_sim_2_20230228212506, 0.01, 11.0, 42, 3.0, closed, 1.0, 0.5, default, upper;defaults, lower;defaults, default, Bretschneider;Hs:2.0;Tp:14.0
3, 0, 20230228212510, rosbag2_batch_sim_3_20230228212510, 0.01, 11.0, 42, 3.0, closed, 1.0, 0.5, default, upper;defaults, lower;defaults, default, Bretschneider;Hs:4.0;Tp:16.0
```

For simulations that take longer to run, it can be convenient to tail this log file from the
Expand Down Expand Up @@ -197,8 +214,8 @@ for plotting and inspection, as described in the

## Passing params directly to launch file

Many of these parameters may be passed directly as arguments to `mbari_wec.launch.py`. To see a list,
enter the following command:
Many of these parameters may be passed directly as arguments to `mbari_wec.launch.py` instead of
running in batch mode. To see a list, enter the following command:
```
$ ros2 launch buoy_gazebo mbari_wec.launch.py -s
Arguments (pass arguments as '<name>:=<value>'):
Expand Down Expand Up @@ -272,3 +289,9 @@ Arguments (pass arguments as '<name>:=<value>'):
(default: 'true')
```

Here are some examples of passing in incident wave spectra:

```
$ ros2 launch buoy_gazebo mbari_wec.launch.py inc_wave_spectrum:="inc_wave_spectrum_type:Bretschneider;Hs:1.0;Tp:6.0"
$ ros2 launch buoy_gazebo mbari_wec.launch.py inc_wave_spectrum:="inc_wave_spectrum_type:Custom;f:0.0:0.2:0.4:0.6:2.0;Szz:0.0:0.4:1.0:1.0:0.0"
```