From c3e54ca9967b52314cb64a9878ed28c49e775b73 Mon Sep 17 00:00:00 2001
From: Cyprian Osinski <cyprian.github@gmail.com>
Date: Sat, 20 Sep 2025 18:20:19 +0200
Subject: [PATCH 01/13] feat: converted velocity controller lqr to lifecycle
 node

---
 control/velocity_controller_lqr/README.md     |  45 +++++
 control/velocity_controller_lqr/README.txt    |   1 -
 .../config/param_velocity_controller_lqr.yaml |  14 +-
 .../figures/ros2_transition_diagram.png       | Bin 0 -> 107366 bytes
 .../launch/velocity_controller_lqr.launch.py  |  15 +-
 .../scripts/velocity_controller_lqr_node.py   | 187 ++++++++++++------
 .../velocity_controller_lqr_lib.py            |   2 +
 7 files changed, 186 insertions(+), 78 deletions(-)
 create mode 100644 control/velocity_controller_lqr/README.md
 delete mode 100644 control/velocity_controller_lqr/README.txt
 create mode 100644 control/velocity_controller_lqr/figures/ros2_transition_diagram.png
 mode change 100755 => 100644 control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py

diff --git a/control/velocity_controller_lqr/README.md b/control/velocity_controller_lqr/README.md
new file mode 100644
index 000000000..27365f5f7
--- /dev/null
+++ b/control/velocity_controller_lqr/README.md
@@ -0,0 +1,45 @@
+## Overview:
+---
+Contains the LQR controller package for the AUV Orca. The controller utilizes an LQR optimal controller (imported from the python control library), and controls pitch, yaw and surge. The controller is meant to traverse larger distances.
+
+#### Tuning of Parameters:
+ To tune parameters look at the config/param_velocity_controller_lqr.yaml file:
+
+
+#### Launching the package:
+```bash
+1. inside ros2ws/colcon build --packages-select velocity_controller_lqr
+```
+
+```bash
+2. Inisde ros2ws/: source install/setup.bash
+```
+
+```bash
+3. ros2 launch velocity_controller_lqr velocity_controller_lqr.launch.py
+```
+
+#### Transitioning between states manually:
+The ROS2 node is implemented using lifecycle nodes, which are managed externally by a lifecycle manager i.e a finite state machine. If you want to manually test the node do the following:
+
+**From Unconfigured ---> Inactive**
+```bash
+ros2 lifecycle set /velocity_controller_lqr_node configure
+```
+
+**From Configured ---> Active**
+```bash
+ros2 lifecycle set /velocity_controller_lqr_node activate
+```
+
+**From Active ---> Inactive**
+```bash
+ros2 lifecycle set /velocity_controller_lqr_node deactivate
+```
+
+For the full state diagram you can refer to the figure below, sourced from the official ROS2 Documentation:
+![image info](./figures/ros2_transition_diagram.png)
+
+
+### Theory
+---
diff --git a/control/velocity_controller_lqr/README.txt b/control/velocity_controller_lqr/README.txt
deleted file mode 100644
index c49e405ea..000000000
--- a/control/velocity_controller_lqr/README.txt
+++ /dev/null
@@ -1 +0,0 @@
-This package contains the velocity controller for the AUV Orca. The controller utilizes an LQR optimal controller (imported from the python control library), and controls pitch, yaw and surge. The controller is meant to traverse larger distances.
diff --git a/control/velocity_controller_lqr/config/param_velocity_controller_lqr.yaml b/control/velocity_controller_lqr/config/param_velocity_controller_lqr.yaml
index 727c1c71e..42f26f53d 100644
--- a/control/velocity_controller_lqr/config/param_velocity_controller_lqr.yaml
+++ b/control/velocity_controller_lqr/config/param_velocity_controller_lqr.yaml
@@ -1,6 +1,14 @@
-/**:
+velocity_controller_lqr_node:
   ros__parameters:
-    dt: 0.1
+
+    topics:
+      odom_topic: /orca/odom
+      twist_topic: /dvl/twist
+      pose_topic: /dvl/pose
+      guidance_topic: /guidance/los
+      thrust_topic: /thrust/wrench_input
+      softwareoperation_topic: /softwareOperationMode
+      killswitch_topic: /softwareKillSwitch
 
     LQR_params:
       q_surge: 75
@@ -17,6 +25,8 @@
 
       i_weight: 0.5
 
+      dt: 0.1
+
     inertia_matrix: [30.0, 0.6, 0.0, 0.6, 1.629, 0.0, 0.0, 0.0, 1.729]
 
     #Clamp parameter
diff --git a/control/velocity_controller_lqr/figures/ros2_transition_diagram.png b/control/velocity_controller_lqr/figures/ros2_transition_diagram.png
new file mode 100644
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literal 0
HcmV?d00001

diff --git a/control/velocity_controller_lqr/launch/velocity_controller_lqr.launch.py b/control/velocity_controller_lqr/launch/velocity_controller_lqr.launch.py
index 6669744d5..5f4e9e38c 100644
--- a/control/velocity_controller_lqr/launch/velocity_controller_lqr.launch.py
+++ b/control/velocity_controller_lqr/launch/velocity_controller_lqr.launch.py
@@ -2,7 +2,7 @@
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch_ros.actions import Node
+from launch_ros.actions import LifecycleNode
 
 
 def generate_launch_description() -> LaunchDescription:
@@ -22,20 +22,13 @@ def generate_launch_description() -> LaunchDescription:
         "param_velocity_controller_lqr.yaml",
     )
 
-    topic_file = os.path.join(
-        get_package_share_directory("auv_setup"),
-        "config",
-        "robots",
-        "orca.yaml",
-    )
-
-    velocity_controller_node = Node(
+    velocity_controller_node = LifecycleNode(
         package="velocity_controller_lqr",
         executable="velocity_controller_lqr_node.py",
         name="velocity_controller_lqr_node",
-        namespace="orca",
+        namespace="",
         output="screen",
-        parameters=[parameter_file, topic_file],
+        parameters=[parameter_file],
     )
 
     return LaunchDescription([velocity_controller_node])
diff --git a/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py b/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
old mode 100755
new mode 100644
index aae5aeb4a..ca6597a0a
--- a/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
+++ b/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
@@ -1,14 +1,14 @@
 #!/usr/bin/env python3
-
 import numpy as np
 import rclpy
 from geometry_msgs.msg import (
     PoseWithCovarianceStamped,
     TwistWithCovarianceStamped,
-    WrenchStamped,
+    Wrench,
 )
 from rclpy.executors import MultiThreadedExecutor
-from rclpy.node import Node
+from rclpy.lifecycle import LifecycleNode
+from rclpy.lifecycle.node import LifecycleState, TransitionCallbackReturn
 from rclpy.qos import HistoryPolicy, QoSProfile, ReliabilityPolicy
 from std_msgs.msg import Bool, String
 from velocity_controller_lqr.velocity_controller_lqr_lib import (
@@ -20,98 +20,153 @@
 from vortex_msgs.msg import LOSGuidance
 
 
-class LinearQuadraticRegulator(Node):
+class LinearQuadraticRegulator(LifecycleNode):
     def __init__(self):
+        # ----------------------- DEFINE RELIABILITY ------------------------
         super().__init__("velocity_controller_lqr_node")
-
-        self.get_topics()
-
-        best_effort_qos = QoSProfile(
+        self.best_effort_qos = QoSProfile(
             reliability=ReliabilityPolicy.BEST_EFFORT,
             history=HistoryPolicy.KEEP_LAST,
             depth=1,
         )
 
-        # ---------------------------- SUBSCRIBERS ---------------------------
+        self.reliable_qos = QoSProfile(
+            reliability=ReliabilityPolicy.RELIABLE,
+            history=HistoryPolicy.KEEP_LAST,
+            depth=10,
+        )
+
+        # ---------------- CALLBACK VARIABLES INITIALIZATION ----------------
+        self.coriolis_matrix = np.zeros((3, 3))
+        self.states = State()
+        self.guidance_values = GuidanceValues()
+        self.lqr_params = LQRParameters()
+        # ------------------------ INITIALIZE TO NONE -----------------------
+        self.pose_subscriber = None
+        self.twist_subscriber = None
+        self.operationmode_subscriber = None
+        self.killswitch_subscriber = None
+        self.guidance_subscriber = None
+        self.publisherLQR = None
+        self.control_timer = None
+
+        # ------------------ ROS2 PARAMETERS AND CONTROLLER ------------------
+        inertia_matrix = self.get_parameters()
+        self.controller = LQRController(self.lqr_params, inertia_matrix)
+
+    def on_configure(self, previous_state: LifecycleState) -> TransitionCallbackReturn:
+        # -------------------------- GET ALL TOPICS -------------------------
+        (
+            pose_topic,
+            twist_topic,
+            guidance_topic,
+            thrust_topic,
+            softwareoperation_topic,
+            killswitch_topic,
+        ) = self.get_topics()
 
         self.pose_subscriber = self.create_subscription(
             PoseWithCovarianceStamped,
-            self.pose_topic,
+            pose_topic,
             self.pose_callback,
-            qos_profile=best_effort_qos,
+            qos_profile=self.best_effort_qos,
         )
 
         self.twist_subscriber = self.create_subscription(
             TwistWithCovarianceStamped,
-            self.twist_topic,
+            twist_topic,
             self.twist_callback,
-            qos_profile=best_effort_qos,
+            qos_profile=self.best_effort_qos,
         )
 
         self.operationmode_subscriber = self.create_subscription(
             String,
-            self.operation_mode_topic,
+            softwareoperation_topic,
             self.operation_callback,
-            qos_profile=2,
+            qos_profile=self.best_effort_qos,
         )
         self.killswitch_subscriber = self.create_subscription(
             Bool,
-            self.killswitch_topic,
+            killswitch_topic,
             self.killswitch_callback,
-            qos_profile=2,
+            qos_profile=self.best_effort_qos,
         )
 
         self.guidance_subscriber = self.create_subscription(
             LOSGuidance,
-            self.los_topic,
+            guidance_topic,
             self.guidance_callback,
-            qos_profile=best_effort_qos,
+            qos_profile=self.best_effort_qos,
         )
 
         # ---------------------------- PUBLISHERS ----------------------------
-        self.publisherLQR = self.create_publisher(
-            WrenchStamped, self.wrench_input_topic, best_effort_qos
+        self.publisherLQR = self.create_lifecycle_publisher(
+            Wrench, thrust_topic, self.reliable_qos
         )
 
         # ------------------------------ TIMERS ------------------------------
-        dt = self.declare_parameter("dt", 0.1).get_parameter_value().double_value
+        dt = self.lqr_params.dt
         self.control_timer = self.create_timer(dt, self.control_loop)
+        self.control_timer.cancel()
 
-        # ------------------ ROS2 PARAMETERS AND CONTROLLER ------------------
-        self.lqr_params = LQRParameters()
-        inertia_matrix = self.get_parameters()
-        self.controller = LQRController(self.lqr_params, inertia_matrix)
+        return TransitionCallbackReturn.SUCCESS
 
-        # ---------------- CALLBACK VARIABLES INITIALIZATION -----------------
-        self.coriolis_matrix = np.zeros((3, 3))
-        self.states = State()
-        self.guidance_values = GuidanceValues()
+    def on_activate(self, previous_state: LifecycleState) -> TransitionCallbackReturn:
+        self.control_timer.reset()
+        self.controller.reset_controller()
+        return super().on_activate(previous_state)
 
-    def get_topics(self):
-        """Get the topics from the parameter file."""
-        topics = [
-            "pose",
-            "twist",
-            "los",
-            "wrench_input",
-            "operation_mode",
-            "killswitch",
-        ]
-        for topic in topics:
-            if topic == "los":
-                self.declare_parameter("topics.guidance." + topic, "_")
-                setattr(
-                    self,
-                    topic + "_topic",
-                    self.get_parameter("topics.guidance." + topic).value,
-                )
-                continue
-            self.declare_parameter("topics." + topic, "_")
-            setattr(
-                self,
-                topic + "_topic",
-                self.get_parameter("topics." + topic).value,
-            )
+    def on_deactivate(self, previous_state: LifecycleState) -> TransitionCallbackReturn:
+        self.control_timer.cancel()
+        self.controller.reset_controller()
+        return super().on_activate(previous_state)
+
+    def on_cleanup(self, previous_state: LifecycleState) -> TransitionCallbackReturn:
+        self.destroy_publisher(self.publisherLQR)
+        self.destroy_timer(self.control_timer)
+        return TransitionCallbackReturn.SUCCESS
+
+    def on_shutdown(self, previous_state: LifecycleState) -> TransitionCallbackReturn:
+        self.destroy_publisher(self.publisherLQR)
+        self.destroy_timer(self.control_timer)
+        return TransitionCallbackReturn.SUCCESS
+
+    def get_topics(self) -> None:
+        """Get the topics from the parameter server.
+
+        Returns:
+        odom_topic: str: The topic for accessing the odometry data from the parameter file
+        twist_topic: str: The topic for accessing the twist data from the parameter file
+        pose_topic: str: The topic for accessing the pose data from the parameter file
+        guidance_topic: str: The topic for accessing the guidance data the parameter file
+        thrust_topic: str: The topic for accessing the thrust data from the parameter file
+        """
+        self.declare_parameter("topics.pose_topic", "/dvl/pose")
+        self.declare_parameter("topics.twist_topic", "/dvl/twist")
+        self.declare_parameter("topics.guidance_topic", "/guidance/los")
+        self.declare_parameter("topics.thrust_topic", "/thrust/wrench_input")
+        self.declare_parameter(
+            "topics.softwareoperation_topic", "/softwareOperationMode"
+        )
+        self.declare_parameter("topics.killswitch_topic", "/softwareKillSwitch")
+
+        pose_topic = self.get_parameter("topics.pose_topic").value
+        twist_topic = self.get_parameter("topics.twist_topic").value
+        guidance_topic = self.get_parameter("topics.guidance_topic").value
+        thrust_topic = self.get_parameter("topics.thrust_topic").value
+        softwareoperation_topic = self.get_parameter(
+            "topics.softwareoperation_topic"
+        ).value
+        killswitch_topic = self.get_parameter("topics.killswitch_topic").value
+
+        return (
+            pose_topic,
+            twist_topic,
+            guidance_topic,
+            thrust_topic,
+            softwareoperation_topic,
+            killswitch_topic,
+        )
 
     def get_parameters(self):
         """Updates the LQR_params in the LQR_parameters Dataclass, and gets the inertia matrix from config.
@@ -133,6 +188,8 @@ def get_parameters(self):
 
         self.declare_parameter("LQR_params.i_weight", 0.5)
 
+        self.declare_parameter("LQR_params.dt", 0.1)
+
         self.declare_parameter("max_force", 99.5)
         self.declare_parameter(
             "inertia_matrix", [30.0, 0.6, 0.0, 0.6, 1.629, 0.0, 0.0, 0.0, 1.729]
@@ -153,12 +210,14 @@ def get_parameters(self):
         self.lqr_params.i_weight = self.get_parameter("LQR_params.i_weight").value
         self.lqr_params.max_force = self.get_parameter("max_force").value
 
+        self.lqr_params.dt = self.get_parameter("LQR_params.dt").value
+
         inertia_matrix_flat = self.get_parameter("inertia_matrix").value
         inertia_matrix = np.array(inertia_matrix_flat).reshape((3, 3))
 
         return inertia_matrix
 
-    # ---------------------------------------------------------------CALLBACK FUNCTIONS---------------------------------------------------------------
+    # ------------------------- CALLBACK FUNCTIONS ---------------------------
 
     def pose_callback(self, msg: PoseWithCovarianceStamped):
         """Callback function for the pose data from DVL.
@@ -212,24 +271,24 @@ def killswitch_callback(self, msg: Bool):
         Parameters: String: msg: The killswitch data from the AUV.
 
         """
-        self.controller.killswitch = msg.data
-        if self.controller.killswitch:
+        if msg.data == True:
             self.controller.reset_controller()
+            self.controller.killswitch = True
+        else:
+            self.controller.killswitch = False
 
     # ---------------------------------------------------------------PUBLISHER FUNCTIONS-------------------------------------------------------------
 
     def control_loop(self):
         """The control loop that calculates the input for the LQR controller."""
-        msg = WrenchStamped()
+        msg = Wrench()
 
         u = self.controller.calculate_lqr_u(
             self.coriolis_matrix, self.states, self.guidance_values
         )
-        msg.header.stamp = self.get_clock().now().to_msg()
-        msg.header.frame_id = "base_link"
-        msg.wrench.force.x = float(u[0])
-        msg.wrench.torque.y = float(u[1])
-        msg.wrench.torque.z = float(u[2])
+        msg.force.x = float(u[0])
+        msg.torque.y = float(u[1])
+        msg.torque.z = float(u[2])
 
         if (
             self.controller.killswitch == False
diff --git a/control/velocity_controller_lqr/velocity_controller_lqr/velocity_controller_lqr_lib.py b/control/velocity_controller_lqr/velocity_controller_lqr/velocity_controller_lqr_lib.py
index af0528ee0..bbd37a313 100644
--- a/control/velocity_controller_lqr/velocity_controller_lqr/velocity_controller_lqr_lib.py
+++ b/control/velocity_controller_lqr/velocity_controller_lqr/velocity_controller_lqr_lib.py
@@ -78,6 +78,7 @@ class LQRParameters:
     max_force: float = 0.0
     operation_mode: str = "xbox mode"
     killswitch: bool = True
+    dt: float = 0.1
 
 
 class LQRController:
@@ -227,6 +228,7 @@ def set_params(self, parameters: LQRParameters) -> None:
 
         self.operation_mode = parameters.operation_mode
         self.killswitch = parameters.killswitch
+        self.dt = parameters.dt
 
     def set_matrices(self, inertia_matrix: np.array) -> None:
         """Adjusts the matrices for the LQR controller.

From 0ea41ab3fc54d5a5f6cf9b5b192ac9f356356104 Mon Sep 17 00:00:00 2001
From: Cyprian Osinski <cyprian.github@gmail.com>
Date: Sat, 20 Sep 2025 20:28:58 +0200
Subject: [PATCH 02/13] Changed QOS to match killswitch and refactored some
 functions to be more clear and concise

---
 .../config/param_velocity_controller_lqr.yaml |  2 +-
 .../scripts/velocity_controller_lqr_node.py   | 75 ++++++++++---------
 2 files changed, 39 insertions(+), 38 deletions(-)

diff --git a/control/velocity_controller_lqr/config/param_velocity_controller_lqr.yaml b/control/velocity_controller_lqr/config/param_velocity_controller_lqr.yaml
index 42f26f53d..611c285b8 100644
--- a/control/velocity_controller_lqr/config/param_velocity_controller_lqr.yaml
+++ b/control/velocity_controller_lqr/config/param_velocity_controller_lqr.yaml
@@ -1,4 +1,4 @@
-velocity_controller_lqr_node:
+/**:
   ros__parameters:
 
     topics:
diff --git a/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py b/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
index ca6597a0a..40d70cea7 100644
--- a/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
+++ b/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
@@ -38,6 +38,7 @@ def __init__(self):
 
         # ---------------- CALLBACK VARIABLES INITIALIZATION ----------------
         self.coriolis_matrix = np.zeros((3, 3))
+        self.inertia_matrix = np.zeros((3,3))
         self.states = State()
         self.guidance_values = GuidanceValues()
         self.lqr_params = LQRParameters()
@@ -51,10 +52,12 @@ def __init__(self):
         self.control_timer = None
 
         # ------------------ ROS2 PARAMETERS AND CONTROLLER ------------------
-        inertia_matrix = self.get_parameters()
-        self.controller = LQRController(self.lqr_params, inertia_matrix)
+        self.get_and_reshape_inertia_matrix()
+        self.controller = LQRController(self.lqr_params, self.inertia_matrix)
 
     def on_configure(self, previous_state: LifecycleState) -> TransitionCallbackReturn:
+        
+        self.get_parameters()
         # -------------------------- GET ALL TOPICS -------------------------
         (
             pose_topic,
@@ -96,7 +99,7 @@ def on_configure(self, previous_state: LifecycleState) -> TransitionCallbackRetu
             LOSGuidance,
             guidance_topic,
             self.guidance_callback,
-            qos_profile=self.best_effort_qos,
+            qos_profile=self.reliable_qos,
         )
 
         # ---------------------------- PUBLISHERS ----------------------------
@@ -169,31 +172,25 @@ def get_topics(self) -> None:
         )
 
     def get_parameters(self):
-        """Updates the LQR_params in the LQR_parameters Dataclass, and gets the inertia matrix from config.
-
-        Returns:
-        inertia_matrix: np.array: The inertia matrix of the AUV
-        """
-        self.declare_parameter("LQR_params.q_surge", 75)
-        self.declare_parameter("LQR_params.q_pitch", 175)
-        self.declare_parameter("LQR_params.q_yaw", 175)
+        """Updates the LQR_params in the LQR_parameters Dataclass."""
+        
+        self.declare_parameter("LQR_params.q_surge")
+        self.declare_parameter("LQR_params.q_pitch")
+        self.declare_parameter("LQR_params.q_yaw")
 
-        self.declare_parameter("LQR_params.r_surge", 0.3)
-        self.declare_parameter("LQR_params.r_pitch", 0.4)
-        self.declare_parameter("LQR_params.r_yaw", 0.4)
+        self.declare_parameter("LQR_params.r_surge")
+        self.declare_parameter("LQR_params.r_pitch")
+        self.declare_parameter("LQR_params.r_yaw")
 
-        self.declare_parameter("LQR_params.i_surge", 0.3)
-        self.declare_parameter("LQR_params.i_pitch", 0.4)
-        self.declare_parameter("LQR_params.i_yaw", 0.3)
+        self.declare_parameter("LQR_params.i_surge")
+        self.declare_parameter("LQR_params.i_pitch")
+        self.declare_parameter("LQR_params.i_yaw")
 
-        self.declare_parameter("LQR_params.i_weight", 0.5)
+        self.declare_parameter("LQR_params.i_weight")
 
-        self.declare_parameter("LQR_params.dt", 0.1)
+        self.declare_parameter("LQR_params.dt")
 
-        self.declare_parameter("max_force", 99.5)
-        self.declare_parameter(
-            "inertia_matrix", [30.0, 0.6, 0.0, 0.6, 1.629, 0.0, 0.0, 0.0, 1.729]
-        )
+        self.declare_parameter("max_force")
 
         self.lqr_params.q_surge = self.get_parameter("LQR_params.q_surge").value
         self.lqr_params.q_pitch = self.get_parameter("LQR_params.q_pitch").value
@@ -212,15 +209,20 @@ def get_parameters(self):
 
         self.lqr_params.dt = self.get_parameter("LQR_params.dt").value
 
-        inertia_matrix_flat = self.get_parameter("inertia_matrix").value
-        inertia_matrix = np.array(inertia_matrix_flat).reshape((3, 3))
 
-        return inertia_matrix
+    def get_and_reshape_inertia_matrix(self):
+        """Gets the inertia matrix from config and reshapes it to proper np array"""
+        self.declare_parameter("inertia_matrix")
+        self.inertia_matrix = self.get_parameter("inertia_matrix").value
+        inertia_matrix_reshaped = np.array(self.inertia_matrix).reshape((3, 3))
+        
+        self.inertia_matrix = inertia_matrix_reshaped
+
 
     # ------------------------- CALLBACK FUNCTIONS ---------------------------
 
     def pose_callback(self, msg: PoseWithCovarianceStamped):
-        """Callback function for the pose data from DVL.
+        """Callback function for the pose data from sensors.
 
         Parameters: msg: PoseWithCovarianceStamped The pose data from the DVL.
 
@@ -281,15 +283,6 @@ def killswitch_callback(self, msg: Bool):
 
     def control_loop(self):
         """The control loop that calculates the input for the LQR controller."""
-        msg = Wrench()
-
-        u = self.controller.calculate_lqr_u(
-            self.coriolis_matrix, self.states, self.guidance_values
-        )
-        msg.force.x = float(u[0])
-        msg.torque.y = float(u[1])
-        msg.torque.z = float(u[2])
-
         if (
             self.controller.killswitch == False
             and self.controller.operation_mode == "autonomous mode"
@@ -298,8 +291,16 @@ def control_loop(self):
 
         else:
             self.controller.reset_controller()
+            
+        msg = Wrench()
+        
 
-
+        u = self.controller.calculate_lqr_u(
+            self.coriolis_matrix, self.states, self.guidance_values
+        )
+        msg.force.x = float(u[0])
+        msg.torque.y = float(u[1])
+        msg.torque.z = float(u[2])
 # ----------------------------------------------------------------------MAIN FUNCTION----------------------------------------------------------------
 
 

From 32417415d078315925e87720ed96361d54e1eddf Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Sat, 20 Sep 2025 18:29:09 +0000
Subject: [PATCH 03/13] [pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci
---
 .../scripts/velocity_controller_lqr_node.py         | 13 +++++--------
 1 file changed, 5 insertions(+), 8 deletions(-)

diff --git a/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py b/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
index 40d70cea7..f728af61d 100644
--- a/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
+++ b/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
@@ -38,7 +38,7 @@ def __init__(self):
 
         # ---------------- CALLBACK VARIABLES INITIALIZATION ----------------
         self.coriolis_matrix = np.zeros((3, 3))
-        self.inertia_matrix = np.zeros((3,3))
+        self.inertia_matrix = np.zeros((3, 3))
         self.states = State()
         self.guidance_values = GuidanceValues()
         self.lqr_params = LQRParameters()
@@ -56,7 +56,6 @@ def __init__(self):
         self.controller = LQRController(self.lqr_params, self.inertia_matrix)
 
     def on_configure(self, previous_state: LifecycleState) -> TransitionCallbackReturn:
-        
         self.get_parameters()
         # -------------------------- GET ALL TOPICS -------------------------
         (
@@ -173,7 +172,6 @@ def get_topics(self) -> None:
 
     def get_parameters(self):
         """Updates the LQR_params in the LQR_parameters Dataclass."""
-        
         self.declare_parameter("LQR_params.q_surge")
         self.declare_parameter("LQR_params.q_pitch")
         self.declare_parameter("LQR_params.q_yaw")
@@ -209,15 +207,13 @@ def get_parameters(self):
 
         self.lqr_params.dt = self.get_parameter("LQR_params.dt").value
 
-
     def get_and_reshape_inertia_matrix(self):
         """Gets the inertia matrix from config and reshapes it to proper np array"""
         self.declare_parameter("inertia_matrix")
         self.inertia_matrix = self.get_parameter("inertia_matrix").value
         inertia_matrix_reshaped = np.array(self.inertia_matrix).reshape((3, 3))
-        
-        self.inertia_matrix = inertia_matrix_reshaped
 
+        self.inertia_matrix = inertia_matrix_reshaped
 
     # ------------------------- CALLBACK FUNCTIONS ---------------------------
 
@@ -291,9 +287,8 @@ def control_loop(self):
 
         else:
             self.controller.reset_controller()
-            
+
         msg = Wrench()
-        
 
         u = self.controller.calculate_lqr_u(
             self.coriolis_matrix, self.states, self.guidance_values
@@ -301,6 +296,8 @@ def control_loop(self):
         msg.force.x = float(u[0])
         msg.torque.y = float(u[1])
         msg.torque.z = float(u[2])
+
+
 # ----------------------------------------------------------------------MAIN FUNCTION----------------------------------------------------------------
 
 

From 8d168839311175bb95869a8f7e7c0340b4f41426 Mon Sep 17 00:00:00 2001
From: Cyprian Osinski <cyprian.github@gmail.com>
Date: Sat, 20 Sep 2025 20:32:44 +0200
Subject: [PATCH 04/13] precommit hooks and explicit return values

---
 .../scripts/velocity_controller_lqr_node.py   | 29 +++++++------------
 1 file changed, 11 insertions(+), 18 deletions(-)

diff --git a/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py b/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
index f728af61d..bb3e109e4 100644
--- a/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
+++ b/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
@@ -1,22 +1,15 @@
 #!/usr/bin/env python3
 import numpy as np
 import rclpy
-from geometry_msgs.msg import (
-    PoseWithCovarianceStamped,
-    TwistWithCovarianceStamped,
-    Wrench,
-)
+from geometry_msgs.msg import (PoseWithCovarianceStamped,
+                               TwistWithCovarianceStamped, Wrench)
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.lifecycle import LifecycleNode
 from rclpy.lifecycle.node import LifecycleState, TransitionCallbackReturn
 from rclpy.qos import HistoryPolicy, QoSProfile, ReliabilityPolicy
 from std_msgs.msg import Bool, String
 from velocity_controller_lqr.velocity_controller_lqr_lib import (
-    GuidanceValues,
-    LQRController,
-    LQRParameters,
-    State,
-)
+    GuidanceValues, LQRController, LQRParameters, State)
 from vortex_msgs.msg import LOSGuidance
 
 
@@ -170,7 +163,7 @@ def get_topics(self) -> None:
             killswitch_topic,
         )
 
-    def get_parameters(self):
+    def get_parameters(self) -> None:
         """Updates the LQR_params in the LQR_parameters Dataclass."""
         self.declare_parameter("LQR_params.q_surge")
         self.declare_parameter("LQR_params.q_pitch")
@@ -207,7 +200,7 @@ def get_parameters(self):
 
         self.lqr_params.dt = self.get_parameter("LQR_params.dt").value
 
-    def get_and_reshape_inertia_matrix(self):
+    def get_and_reshape_inertia_matrix(self) -> None:
         """Gets the inertia matrix from config and reshapes it to proper np array"""
         self.declare_parameter("inertia_matrix")
         self.inertia_matrix = self.get_parameter("inertia_matrix").value
@@ -217,7 +210,7 @@ def get_and_reshape_inertia_matrix(self):
 
     # ------------------------- CALLBACK FUNCTIONS ---------------------------
 
-    def pose_callback(self, msg: PoseWithCovarianceStamped):
+    def pose_callback(self, msg: PoseWithCovarianceStamped) -> None:
         """Callback function for the pose data from sensors.
 
         Parameters: msg: PoseWithCovarianceStamped The pose data from the DVL.
@@ -230,7 +223,7 @@ def pose_callback(self, msg: PoseWithCovarianceStamped):
             msg.pose.pose.orientation.z,
         )
 
-    def operation_callback(self, msg: String):
+    def operation_callback(self, msg: String) -> None:
         """Callback function for the operation mode data.
 
         Parameters: String: msg: The operation mode data from the AUV.
@@ -238,7 +231,7 @@ def operation_callback(self, msg: String):
         """
         self.controller.operation_mode = msg.data
 
-    def twist_callback(self, msg: TwistWithCovarianceStamped):
+    def twist_callback(self, msg: TwistWithCovarianceStamped) -> None:
         """Callback function for the Twist data from DVL.
 
         Parameters: msg: TwistWithCovarianceStamped The twist data from the DVL.
@@ -253,7 +246,7 @@ def twist_callback(self, msg: TwistWithCovarianceStamped):
             msg.twist.twist.linear.z,
         )
 
-    def guidance_callback(self, msg: LOSGuidance):
+    def guidance_callback(self, msg: LOSGuidance) -> None:
         """Callback function for the guidance data.
 
         Parameters: LOSGuidance: msg: The guidance data from the LOS guidance system.
@@ -263,7 +256,7 @@ def guidance_callback(self, msg: LOSGuidance):
         self.guidance_values.pitch = msg.pitch
         self.guidance_values.yaw = msg.yaw
 
-    def killswitch_callback(self, msg: Bool):
+    def killswitch_callback(self, msg: Bool) -> None:
         """Callback function for the killswitch data.
 
         Parameters: String: msg: The killswitch data from the AUV.
@@ -277,7 +270,7 @@ def killswitch_callback(self, msg: Bool):
 
     # ---------------------------------------------------------------PUBLISHER FUNCTIONS-------------------------------------------------------------
 
-    def control_loop(self):
+    def control_loop(self) -> None:
         """The control loop that calculates the input for the LQR controller."""
         if (
             self.controller.killswitch == False

From c7c72d5e22503626fbb623c27cf67871bd57b9ef Mon Sep 17 00:00:00 2001
From: Cyprian Osinski <cyprian.github@gmail.com>
Date: Sat, 20 Sep 2025 20:40:00 +0200
Subject: [PATCH 05/13] refactored to if guard for easy exit and so precommit
 hook gets off my ass

---
 .../scripts/velocity_controller_lqr_node.py            | 10 +++-------
 1 file changed, 3 insertions(+), 7 deletions(-)

diff --git a/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py b/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
index bb3e109e4..4ed045e76 100644
--- a/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
+++ b/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
@@ -272,14 +272,9 @@ def killswitch_callback(self, msg: Bool) -> None:
 
     def control_loop(self) -> None:
         """The control loop that calculates the input for the LQR controller."""
-        if (
-            self.controller.killswitch == False
-            and self.controller.operation_mode == "autonomous mode"
-        ):
-            self.publisherLQR.publish(msg)
-
-        else:
+        if (self.controller.killswitch == True or self.controller.operation_mode != "autonomous mode"):
             self.controller.reset_controller()
+            return
 
         msg = Wrench()
 
@@ -290,6 +285,7 @@ def control_loop(self) -> None:
         msg.torque.y = float(u[1])
         msg.torque.z = float(u[2])
 
+        self.publisherLQR.publish(msg)
 
 # ----------------------------------------------------------------------MAIN FUNCTION----------------------------------------------------------------
 

From 90d74880a6bd27168f500bb2ada4d389534e9e2d Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Sat, 20 Sep 2025 18:41:15 +0000
Subject: [PATCH 06/13] [pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci
---
 .../scripts/velocity_controller_lqr_node.py   | 19 +++++++++++++++----
 1 file changed, 15 insertions(+), 4 deletions(-)

diff --git a/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py b/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
index 4ed045e76..2ff358e00 100644
--- a/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
+++ b/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
@@ -1,15 +1,22 @@
 #!/usr/bin/env python3
 import numpy as np
 import rclpy
-from geometry_msgs.msg import (PoseWithCovarianceStamped,
-                               TwistWithCovarianceStamped, Wrench)
+from geometry_msgs.msg import (
+    PoseWithCovarianceStamped,
+    TwistWithCovarianceStamped,
+    Wrench,
+)
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.lifecycle import LifecycleNode
 from rclpy.lifecycle.node import LifecycleState, TransitionCallbackReturn
 from rclpy.qos import HistoryPolicy, QoSProfile, ReliabilityPolicy
 from std_msgs.msg import Bool, String
 from velocity_controller_lqr.velocity_controller_lqr_lib import (
-    GuidanceValues, LQRController, LQRParameters, State)
+    GuidanceValues,
+    LQRController,
+    LQRParameters,
+    State,
+)
 from vortex_msgs.msg import LOSGuidance
 
 
@@ -272,7 +279,10 @@ def killswitch_callback(self, msg: Bool) -> None:
 
     def control_loop(self) -> None:
         """The control loop that calculates the input for the LQR controller."""
-        if (self.controller.killswitch == True or self.controller.operation_mode != "autonomous mode"):
+        if (
+            self.controller.killswitch == True
+            or self.controller.operation_mode != "autonomous mode"
+        ):
             self.controller.reset_controller()
             return
 
@@ -287,6 +297,7 @@ def control_loop(self) -> None:
 
         self.publisherLQR.publish(msg)
 
+
 # ----------------------------------------------------------------------MAIN FUNCTION----------------------------------------------------------------
 
 

From 0fc0b832650c16ccf2336f9d811c2c87669588a9 Mon Sep 17 00:00:00 2001
From: Cyprian Osinski <cyprian.github@gmail.com>
Date: Sat, 20 Sep 2025 20:43:04 +0200
Subject: [PATCH 07/13] added closing punctuation so pre commit hooks doesn't
 complain

---
 .../scripts/velocity_controller_lqr_node.py                     | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py b/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
index 2ff358e00..b73567f2f 100644
--- a/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
+++ b/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
@@ -208,7 +208,7 @@ def get_parameters(self) -> None:
         self.lqr_params.dt = self.get_parameter("LQR_params.dt").value
 
     def get_and_reshape_inertia_matrix(self) -> None:
-        """Gets the inertia matrix from config and reshapes it to proper np array"""
+        """Gets the inertia matrix from config and reshapes it to proper np array."""
         self.declare_parameter("inertia_matrix")
         self.inertia_matrix = self.get_parameter("inertia_matrix").value
         inertia_matrix_reshaped = np.array(self.inertia_matrix).reshape((3, 3))

From 3f544906cfd1426ca693676f701bc7de88ac3c01 Mon Sep 17 00:00:00 2001
From: Cyprian Osinski <cyprian.github@gmail.com>
Date: Sun, 21 Sep 2025 12:25:45 +0200
Subject: [PATCH 08/13] <feat>: changed some ownership stuff in the controller,
 and actually fixed reliable/best effort QOS

---
 .../scripts/velocity_controller_lqr_node.py   | 29 +++++++++++--------
 .../velocity_controller_lqr_lib.py            |  5 +---
 2 files changed, 18 insertions(+), 16 deletions(-)

diff --git a/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py b/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
index b73567f2f..62d881bd8 100644
--- a/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
+++ b/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
@@ -42,13 +42,19 @@ def __init__(self):
         self.states = State()
         self.guidance_values = GuidanceValues()
         self.lqr_params = LQRParameters()
-        # ------------------------ INITIALIZE TO NONE -----------------------
+        self.dt = None
+        # --------------------------- SUBSCRIBERS --------------------------
         self.pose_subscriber = None
         self.twist_subscriber = None
         self.operationmode_subscriber = None
         self.killswitch_subscriber = None
         self.guidance_subscriber = None
+        # ------------------------ CONTROLLER MODES ------------------------
+        self.killswitch = None
+        self.operation_mode = None
+        # --------------------------- PUBLISHERS ---------------------------
         self.publisherLQR = None
+        # ----------------------------- TIMERS -----------------------------
         self.control_timer = None
 
         # ------------------ ROS2 PARAMETERS AND CONTROLLER ------------------
@@ -85,20 +91,20 @@ def on_configure(self, previous_state: LifecycleState) -> TransitionCallbackRetu
             String,
             softwareoperation_topic,
             self.operation_callback,
-            qos_profile=self.best_effort_qos,
+            qos_profile=self.reliable_qos,
         )
         self.killswitch_subscriber = self.create_subscription(
             Bool,
             killswitch_topic,
             self.killswitch_callback,
-            qos_profile=self.best_effort_qos,
+            qos_profile=self.reliable_qos,
         )
 
         self.guidance_subscriber = self.create_subscription(
             LOSGuidance,
             guidance_topic,
             self.guidance_callback,
-            qos_profile=self.reliable_qos,
+            qos_profile=self.best_effort_qos,
         )
 
         # ---------------------------- PUBLISHERS ----------------------------
@@ -107,7 +113,7 @@ def on_configure(self, previous_state: LifecycleState) -> TransitionCallbackRetu
         )
 
         # ------------------------------ TIMERS ------------------------------
-        dt = self.lqr_params.dt
+        dt = self.dt
         self.control_timer = self.create_timer(dt, self.control_loop)
         self.control_timer.cancel()
 
@@ -187,7 +193,6 @@ def get_parameters(self) -> None:
         self.declare_parameter("LQR_params.i_weight")
 
         self.declare_parameter("LQR_params.dt")
-
         self.declare_parameter("max_force")
 
         self.lqr_params.q_surge = self.get_parameter("LQR_params.q_surge").value
@@ -205,7 +210,7 @@ def get_parameters(self) -> None:
         self.lqr_params.i_weight = self.get_parameter("LQR_params.i_weight").value
         self.lqr_params.max_force = self.get_parameter("max_force").value
 
-        self.lqr_params.dt = self.get_parameter("LQR_params.dt").value
+        self.dt = self.get_parameter("LQR_params.dt").value
 
     def get_and_reshape_inertia_matrix(self) -> None:
         """Gets the inertia matrix from config and reshapes it to proper np array."""
@@ -236,7 +241,7 @@ def operation_callback(self, msg: String) -> None:
         Parameters: String: msg: The operation mode data from the AUV.
 
         """
-        self.controller.operation_mode = msg.data
+        self.operation_mode = msg.data
 
     def twist_callback(self, msg: TwistWithCovarianceStamped) -> None:
         """Callback function for the Twist data from DVL.
@@ -271,17 +276,17 @@ def killswitch_callback(self, msg: Bool) -> None:
         """
         if msg.data == True:
             self.controller.reset_controller()
-            self.controller.killswitch = True
+            self.killswitch = True
         else:
-            self.controller.killswitch = False
+            self.killswitch = False
 
     # ---------------------------------------------------------------PUBLISHER FUNCTIONS-------------------------------------------------------------
 
     def control_loop(self) -> None:
         """The control loop that calculates the input for the LQR controller."""
         if (
-            self.controller.killswitch == True
-            or self.controller.operation_mode != "autonomous mode"
+            self.killswitch == True
+            or self.operation_mode != "autonomous mode"
         ):
             self.controller.reset_controller()
             return
diff --git a/control/velocity_controller_lqr/velocity_controller_lqr/velocity_controller_lqr_lib.py b/control/velocity_controller_lqr/velocity_controller_lqr/velocity_controller_lqr_lib.py
index bbd37a313..97b1299dd 100644
--- a/control/velocity_controller_lqr/velocity_controller_lqr/velocity_controller_lqr_lib.py
+++ b/control/velocity_controller_lqr/velocity_controller_lqr/velocity_controller_lqr_lib.py
@@ -76,9 +76,6 @@ class LQRParameters:
     i_yaw: float = 0.0
     i_weight: float = 0.0
     max_force: float = 0.0
-    operation_mode: str = "xbox mode"
-    killswitch: bool = True
-    dt: float = 0.1
 
 
 class LQRController:
@@ -224,8 +221,8 @@ def set_params(self, parameters: LQRParameters) -> None:
         self.i_pitch = parameters.i_pitch
         self.i_yaw = parameters.i_yaw
         self.i_weight = parameters.i_weight
+        
         self.max_force = parameters.max_force
-
         self.operation_mode = parameters.operation_mode
         self.killswitch = parameters.killswitch
         self.dt = parameters.dt

From d44726539f7289dba58580f5ade3db5f0b357f13 Mon Sep 17 00:00:00 2001
From: Cyprian Osinski <cyprian.github@gmail.com>
Date: Sun, 21 Sep 2025 12:44:27 +0200
Subject: [PATCH 09/13] split declare and get functions, removed failing lqr
 params stuff

---
 .../scripts/velocity_controller_lqr_node.py   | 23 ++++++++-----------
 1 file changed, 10 insertions(+), 13 deletions(-)

diff --git a/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py b/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
index 62d881bd8..cbdb475cb 100644
--- a/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
+++ b/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
@@ -1,22 +1,15 @@
 #!/usr/bin/env python3
 import numpy as np
 import rclpy
-from geometry_msgs.msg import (
-    PoseWithCovarianceStamped,
-    TwistWithCovarianceStamped,
-    Wrench,
-)
+from geometry_msgs.msg import (PoseWithCovarianceStamped,
+                               TwistWithCovarianceStamped, Wrench)
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.lifecycle import LifecycleNode
 from rclpy.lifecycle.node import LifecycleState, TransitionCallbackReturn
 from rclpy.qos import HistoryPolicy, QoSProfile, ReliabilityPolicy
 from std_msgs.msg import Bool, String
 from velocity_controller_lqr.velocity_controller_lqr_lib import (
-    GuidanceValues,
-    LQRController,
-    LQRParameters,
-    State,
-)
+    GuidanceValues, LQRController, LQRParameters, State)
 from vortex_msgs.msg import LOSGuidance
 
 
@@ -33,7 +26,7 @@ def __init__(self):
         self.reliable_qos = QoSProfile(
             reliability=ReliabilityPolicy.RELIABLE,
             history=HistoryPolicy.KEEP_LAST,
-            depth=10,
+            depth=2,
         )
 
         # ---------------- CALLBACK VARIABLES INITIALIZATION ----------------
@@ -62,6 +55,7 @@ def __init__(self):
         self.controller = LQRController(self.lqr_params, self.inertia_matrix)
 
     def on_configure(self, previous_state: LifecycleState) -> TransitionCallbackReturn:
+        self.declare_parameters()
         self.get_parameters()
         # -------------------------- GET ALL TOPICS -------------------------
         (
@@ -176,8 +170,8 @@ def get_topics(self) -> None:
             killswitch_topic,
         )
 
-    def get_parameters(self) -> None:
-        """Updates the LQR_params in the LQR_parameters Dataclass."""
+    def declare_parameters(self) -> None:
+        """Declares parameters that are to be used from the configuration file."""
         self.declare_parameter("LQR_params.q_surge")
         self.declare_parameter("LQR_params.q_pitch")
         self.declare_parameter("LQR_params.q_yaw")
@@ -194,6 +188,9 @@ def get_parameters(self) -> None:
 
         self.declare_parameter("LQR_params.dt")
         self.declare_parameter("max_force")
+    
+    def get_parameters(self) -> None:
+        """Gets the declared parameters from the configuration file."""
 
         self.lqr_params.q_surge = self.get_parameter("LQR_params.q_surge").value
         self.lqr_params.q_pitch = self.get_parameter("LQR_params.q_pitch").value

From f468c421c6abf8e732716443986fd826b57f2d21 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Sun, 21 Sep 2025 10:44:39 +0000
Subject: [PATCH 10/13] [pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci
---
 .../scripts/velocity_controller_lqr_node.py   | 21 +++++++++++--------
 .../velocity_controller_lqr_lib.py            |  2 +-
 2 files changed, 13 insertions(+), 10 deletions(-)

diff --git a/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py b/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
index cbdb475cb..de085ac5f 100644
--- a/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
+++ b/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
@@ -1,15 +1,22 @@
 #!/usr/bin/env python3
 import numpy as np
 import rclpy
-from geometry_msgs.msg import (PoseWithCovarianceStamped,
-                               TwistWithCovarianceStamped, Wrench)
+from geometry_msgs.msg import (
+    PoseWithCovarianceStamped,
+    TwistWithCovarianceStamped,
+    Wrench,
+)
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.lifecycle import LifecycleNode
 from rclpy.lifecycle.node import LifecycleState, TransitionCallbackReturn
 from rclpy.qos import HistoryPolicy, QoSProfile, ReliabilityPolicy
 from std_msgs.msg import Bool, String
 from velocity_controller_lqr.velocity_controller_lqr_lib import (
-    GuidanceValues, LQRController, LQRParameters, State)
+    GuidanceValues,
+    LQRController,
+    LQRParameters,
+    State,
+)
 from vortex_msgs.msg import LOSGuidance
 
 
@@ -188,10 +195,9 @@ def declare_parameters(self) -> None:
 
         self.declare_parameter("LQR_params.dt")
         self.declare_parameter("max_force")
-    
+
     def get_parameters(self) -> None:
         """Gets the declared parameters from the configuration file."""
-
         self.lqr_params.q_surge = self.get_parameter("LQR_params.q_surge").value
         self.lqr_params.q_pitch = self.get_parameter("LQR_params.q_pitch").value
         self.lqr_params.q_yaw = self.get_parameter("LQR_params.q_yaw").value
@@ -281,10 +287,7 @@ def killswitch_callback(self, msg: Bool) -> None:
 
     def control_loop(self) -> None:
         """The control loop that calculates the input for the LQR controller."""
-        if (
-            self.killswitch == True
-            or self.operation_mode != "autonomous mode"
-        ):
+        if self.killswitch == True or self.operation_mode != "autonomous mode":
             self.controller.reset_controller()
             return
 
diff --git a/control/velocity_controller_lqr/velocity_controller_lqr/velocity_controller_lqr_lib.py b/control/velocity_controller_lqr/velocity_controller_lqr/velocity_controller_lqr_lib.py
index 97b1299dd..09f008e51 100644
--- a/control/velocity_controller_lqr/velocity_controller_lqr/velocity_controller_lqr_lib.py
+++ b/control/velocity_controller_lqr/velocity_controller_lqr/velocity_controller_lqr_lib.py
@@ -221,7 +221,7 @@ def set_params(self, parameters: LQRParameters) -> None:
         self.i_pitch = parameters.i_pitch
         self.i_yaw = parameters.i_yaw
         self.i_weight = parameters.i_weight
-        
+
         self.max_force = parameters.max_force
         self.operation_mode = parameters.operation_mode
         self.killswitch = parameters.killswitch

From bd324988266f0eb9b2152a44378338130556880b Mon Sep 17 00:00:00 2001
From: Cyprian Osinski <cyprian.github@gmail.com>
Date: Sun, 21 Sep 2025 12:58:19 +0200
Subject: [PATCH 11/13] what did it cost? everything.

---
 .../velocity_controller_lqr/velocity_controller_lqr_lib.py     | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/control/velocity_controller_lqr/velocity_controller_lqr/velocity_controller_lqr_lib.py b/control/velocity_controller_lqr/velocity_controller_lqr/velocity_controller_lqr_lib.py
index 09f008e51..2f845bc50 100644
--- a/control/velocity_controller_lqr/velocity_controller_lqr/velocity_controller_lqr_lib.py
+++ b/control/velocity_controller_lqr/velocity_controller_lqr/velocity_controller_lqr_lib.py
@@ -223,9 +223,6 @@ def set_params(self, parameters: LQRParameters) -> None:
         self.i_weight = parameters.i_weight
 
         self.max_force = parameters.max_force
-        self.operation_mode = parameters.operation_mode
-        self.killswitch = parameters.killswitch
-        self.dt = parameters.dt
 
     def set_matrices(self, inertia_matrix: np.array) -> None:
         """Adjusts the matrices for the LQR controller.

From efce34f2bfedcb0a4a63b17a81e50e0895c87c26 Mon Sep 17 00:00:00 2001
From: Cyprian Osinski <cyprian.github@gmail.com>
Date: Wed, 1 Oct 2025 22:36:47 +0200
Subject: [PATCH 12/13] made node pull topics from centralized auv_setup param
 file, velocity controller builds but does not run. Need to investigate

---
 control/velocity_controller_lqr/README.md     |  14 +-
 .../config/param_velocity_controller_lqr.yaml |  21 ++-
 .../launch/velocity_controller_lqr.launch.py  |  11 +-
 control/velocity_controller_lqr/package.xml   |   2 +-
 .../velocity_controller_lqr/requirements.txt  |   2 +-
 .../scripts/velocity_controller_lqr_node.py   | 131 +++++++++---------
 6 files changed, 94 insertions(+), 87 deletions(-)

diff --git a/control/velocity_controller_lqr/README.md b/control/velocity_controller_lqr/README.md
index 27365f5f7..8e8788928 100644
--- a/control/velocity_controller_lqr/README.md
+++ b/control/velocity_controller_lqr/README.md
@@ -3,21 +3,23 @@
 Contains the LQR controller package for the AUV Orca. The controller utilizes an LQR optimal controller (imported from the python control library), and controls pitch, yaw and surge. The controller is meant to traverse larger distances.
 
 #### Tuning of Parameters:
- To tune parameters look at the config/param_velocity_controller_lqr.yaml file:
+ To tune parameters look at the [config file](https://github.com/vortexntnu/vortex-auv/blob/velocity-controller-to-lifecycle/control/velocity_controller_lqr/config/param_velocity_controller_lqr.yaml) file:
 
 
 #### Launching the package:
+1. Navigate to your ros2ws directory then (change your own path after cd or skip first line entirely),
 ```bash
-1. inside ros2ws/colcon build --packages-select velocity_controller_lqr
+cd ~/ros2ws/ &&
+colcon build --packages-select velocity_controller_lqr &&
+source install/setup.bash
 ```
 
+2. Then simply run the node via the launch file
 ```bash
-2. Inisde ros2ws/: source install/setup.bash
+ ros2 launch velocity_controller_lqr velocity_controller_lqr.launch.py
 ```
 
-```bash
-3. ros2 launch velocity_controller_lqr velocity_controller_lqr.launch.py
-```
+3. You will notice that not much is currently happening, however that is because this is a lifecycle node and you can now transition between the node states through the terminal.
 
 #### Transitioning between states manually:
 The ROS2 node is implemented using lifecycle nodes, which are managed externally by a lifecycle manager i.e a finite state machine. If you want to manually test the node do the following:
diff --git a/control/velocity_controller_lqr/config/param_velocity_controller_lqr.yaml b/control/velocity_controller_lqr/config/param_velocity_controller_lqr.yaml
index 611c285b8..6b1f6503d 100644
--- a/control/velocity_controller_lqr/config/param_velocity_controller_lqr.yaml
+++ b/control/velocity_controller_lqr/config/param_velocity_controller_lqr.yaml
@@ -1,14 +1,14 @@
 /**:
   ros__parameters:
 
-    topics:
-      odom_topic: /orca/odom
-      twist_topic: /dvl/twist
-      pose_topic: /dvl/pose
-      guidance_topic: /guidance/los
-      thrust_topic: /thrust/wrench_input
-      softwareoperation_topic: /softwareOperationMode
-      killswitch_topic: /softwareKillSwitch
+    # topics:
+    #   odom_topic: /orca/odom
+    #   twist_topic: /dvl/twist
+    #   pose_topic: /dvl/pose
+    #   guidance_topic: /guidance/los
+    #   thrust_topic: /thrust/wrench_input
+    #   softwareoperation_topic: /softwareOperationMode
+    #   killswitch_topic: /softwareKillSwitch
 
     LQR_params:
       q_surge: 75
@@ -25,9 +25,6 @@
 
       i_weight: 0.5
 
-      dt: 0.1
+    dt: 0.1
 
     inertia_matrix: [30.0, 0.6, 0.0, 0.6, 1.629, 0.0, 0.0, 0.0, 1.729]
-
-    #Clamp parameter
-    max_force: 99.5
diff --git a/control/velocity_controller_lqr/launch/velocity_controller_lqr.launch.py b/control/velocity_controller_lqr/launch/velocity_controller_lqr.launch.py
index 5f4e9e38c..4826c240b 100644
--- a/control/velocity_controller_lqr/launch/velocity_controller_lqr.launch.py
+++ b/control/velocity_controller_lqr/launch/velocity_controller_lqr.launch.py
@@ -21,14 +21,21 @@ def generate_launch_description() -> LaunchDescription:
         "config",
         "param_velocity_controller_lqr.yaml",
     )
+    
+    topic_file = os.path.join(
+        get_package_share_directory("auv_setup"),
+        "config",
+        "robots",
+        "orca.yaml",
+    )
 
     velocity_controller_node = LifecycleNode(
         package="velocity_controller_lqr",
         executable="velocity_controller_lqr_node.py",
         name="velocity_controller_lqr_node",
-        namespace="",
+        namespace="orca",
         output="screen",
-        parameters=[parameter_file],
+        parameters=[parameter_file, topic_file],
     )
 
     return LaunchDescription([velocity_controller_node])
diff --git a/control/velocity_controller_lqr/package.xml b/control/velocity_controller_lqr/package.xml
index a27ed4771..b60804d44 100644
--- a/control/velocity_controller_lqr/package.xml
+++ b/control/velocity_controller_lqr/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>velocity_controller_lqr</name>
-  <version>1.0.0</version>
+  <version>0.6.9</version>
   <description>Velocity controller package for the AUV Orca</description>
   <maintainer email="cyprian.github@gmail.com">cyprian</maintainer>
   <license>MIT</license>
diff --git a/control/velocity_controller_lqr/requirements.txt b/control/velocity_controller_lqr/requirements.txt
index 2c2b91d3e..904eea556 100644
--- a/control/velocity_controller_lqr/requirements.txt
+++ b/control/velocity_controller_lqr/requirements.txt
@@ -1 +1 @@
-numpy<1.25.0
+numpy<1.25.0
\ No newline at end of file
diff --git a/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py b/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
index de085ac5f..ecd5a22cf 100644
--- a/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
+++ b/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
@@ -1,22 +1,15 @@
 #!/usr/bin/env python3
 import numpy as np
 import rclpy
-from geometry_msgs.msg import (
-    PoseWithCovarianceStamped,
-    TwistWithCovarianceStamped,
-    Wrench,
-)
+from geometry_msgs.msg import (PoseWithCovarianceStamped,
+                               TwistWithCovarianceStamped, WrenchStamped)
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.lifecycle import LifecycleNode
 from rclpy.lifecycle.node import LifecycleState, TransitionCallbackReturn
 from rclpy.qos import HistoryPolicy, QoSProfile, ReliabilityPolicy
 from std_msgs.msg import Bool, String
 from velocity_controller_lqr.velocity_controller_lqr_lib import (
-    GuidanceValues,
-    LQRController,
-    LQRParameters,
-    State,
-)
+    GuidanceValues, LQRController, LQRParameters, State)
 from vortex_msgs.msg import LOSGuidance
 
 
@@ -46,7 +39,7 @@ def __init__(self):
         # --------------------------- SUBSCRIBERS --------------------------
         self.pose_subscriber = None
         self.twist_subscriber = None
-        self.operationmode_subscriber = None
+        self.operation_mode_subscriber = None
         self.killswitch_subscriber = None
         self.guidance_subscriber = None
         # ------------------------ CONTROLLER MODES ------------------------
@@ -56,21 +49,22 @@ def __init__(self):
         self.publisherLQR = None
         # ----------------------------- TIMERS -----------------------------
         self.control_timer = None
-
         # ------------------ ROS2 PARAMETERS AND CONTROLLER ------------------
         self.get_and_reshape_inertia_matrix()
         self.controller = LQRController(self.lqr_params, self.inertia_matrix)
 
     def on_configure(self, previous_state: LifecycleState) -> TransitionCallbackReturn:
-        self.declare_parameters()
-        self.get_parameters()
+        self.declare_params()
+        self.get_logger().info("1")
+        self.get_params()
+        self.get_logger().info("2")
         # -------------------------- GET ALL TOPICS -------------------------
         (
             pose_topic,
             twist_topic,
             guidance_topic,
             thrust_topic,
-            softwareoperation_topic,
+            software_operation_topic,
             killswitch_topic,
         ) = self.get_topics()
 
@@ -88,9 +82,9 @@ def on_configure(self, previous_state: LifecycleState) -> TransitionCallbackRetu
             qos_profile=self.best_effort_qos,
         )
 
-        self.operationmode_subscriber = self.create_subscription(
+        self.operation_mode_subscriber = self.create_subscription(
             String,
-            softwareoperation_topic,
+            software_operation_topic,
             self.operation_callback,
             qos_profile=self.reliable_qos,
         )
@@ -110,7 +104,7 @@ def on_configure(self, previous_state: LifecycleState) -> TransitionCallbackRetu
 
         # ---------------------------- PUBLISHERS ----------------------------
         self.publisherLQR = self.create_lifecycle_publisher(
-            Wrench, thrust_topic, self.reliable_qos
+            WrenchStamped, thrust_topic, self.reliable_qos
         )
 
         # ------------------------------ TIMERS ------------------------------
@@ -128,7 +122,7 @@ def on_activate(self, previous_state: LifecycleState) -> TransitionCallbackRetur
     def on_deactivate(self, previous_state: LifecycleState) -> TransitionCallbackReturn:
         self.control_timer.cancel()
         self.controller.reset_controller()
-        return super().on_activate(previous_state)
+        return super().on_deactivate(previous_state)
 
     def on_cleanup(self, previous_state: LifecycleState) -> TransitionCallbackReturn:
         self.destroy_publisher(self.publisherLQR)
@@ -144,59 +138,65 @@ def get_topics(self) -> None:
         """Get the topics from the parameter server.
 
         Returns:
-        odom_topic: str: The topic for accessing the odometry data from the parameter file
-        twist_topic: str: The topic for accessing the twist data from the parameter file
         pose_topic: str: The topic for accessing the pose data from the parameter file
+        twist_topic: str: The topic for accessing the twist data from the parameter file
         guidance_topic: str: The topic for accessing the guidance data the parameter file
         thrust_topic: str: The topic for accessing the thrust data from the parameter file
+        software_operation_mode_topic: str: The topic for accessing the operation mode from the parameter file
+        killswitch_topic: str: The topic for accessing the killswitch bool from the parameter file
+        
         """
-        self.declare_parameter("topics.pose_topic", "/dvl/pose")
-        self.declare_parameter("topics.twist_topic", "/dvl/twist")
-        self.declare_parameter("topics.guidance_topic", "/guidance/los")
-        self.declare_parameter("topics.thrust_topic", "/thrust/wrench_input")
-        self.declare_parameter(
-            "topics.softwareoperation_topic", "/softwareOperationMode"
-        )
-        self.declare_parameter("topics.killswitch_topic", "/softwareKillSwitch")
-
-        pose_topic = self.get_parameter("topics.pose_topic").value
-        twist_topic = self.get_parameter("topics.twist_topic").value
-        guidance_topic = self.get_parameter("topics.guidance_topic").value
-        thrust_topic = self.get_parameter("topics.thrust_topic").value
-        softwareoperation_topic = self.get_parameter(
-            "topics.softwareoperation_topic"
-        ).value
-        killswitch_topic = self.get_parameter("topics.killswitch_topic").value
+        self.declare_parameter("topics.pose", "_")
+        self.declare_parameter("topics.twist", "_")
+        self.declare_parameter("topics.guidance.los", "_")
+        self.declare_parameter("topics.wrench_input", "_")
+        self.declare_parameter("topics.operation_mode", "_")
+        self.declare_parameter("topics.killswitch", "_")
+
+        pose_topic = self.get_parameter("topics.pose").value
+        twist_topic = self.get_parameter("topics.twist").value
+        guidance_topic = self.get_parameter("topics.guidance.los").value
+        thrust_topic = self.get_parameter("topics.wrench_input").value
+        operation_topic = self.get_parameter("topics.operation_mode").value
+        killswitch_topic = self.get_parameter("topics.killswitch").value
 
         return (
             pose_topic,
             twist_topic,
             guidance_topic,
             thrust_topic,
-            softwareoperation_topic,
+            operation_topic,
             killswitch_topic,
         )
 
-    def declare_parameters(self) -> None:
+    def declare_params(self) -> None:
         """Declares parameters that are to be used from the configuration file."""
-        self.declare_parameter("LQR_params.q_surge")
-        self.declare_parameter("LQR_params.q_pitch")
-        self.declare_parameter("LQR_params.q_yaw")
-
-        self.declare_parameter("LQR_params.r_surge")
-        self.declare_parameter("LQR_params.r_pitch")
-        self.declare_parameter("LQR_params.r_yaw")
-
-        self.declare_parameter("LQR_params.i_surge")
-        self.declare_parameter("LQR_params.i_pitch")
-        self.declare_parameter("LQR_params.i_yaw")
-
-        self.declare_parameter("LQR_params.i_weight")
-
-        self.declare_parameter("LQR_params.dt")
-        self.declare_parameter("max_force")
-
-    def get_parameters(self) -> None:
+        self.get_logger().info("cool")
+        
+        self.declare_parameter("LQR_params.q_surge", 0.0)
+        self.declare_parameter("LQR_params.q_pitch", 0.0)
+        self.declare_parameter("LQR_params.q_yaw", 0.0)
+        
+        self.get_logger().info("yaw")
+
+        self.declare_parameter("LQR_params.r_surge", 0.0)
+        self.declare_parameter("LQR_params.r_pitch", 0.0)
+        self.declare_parameter("LQR_params.r_yaw", 0.0)
+        
+        self.get_logger().info("shaw")
+
+        self.declare_parameter("LQR_params.i_surge", 0.0)
+        self.declare_parameter("LQR_params.i_pitch", 0.0)
+        self.declare_parameter("LQR_params.i_yaw", 0.0)
+        
+        self.get_logger().info("garhamat")
+
+        self.declare_parameter("LQR_params.i_weight", 0.0)
+
+        self.declare_parameter("dt", 0.0)
+        self.declare_parameter("propulsion.thrusters.max", 0.0)
+
+    def get_params(self) -> None:
         """Gets the declared parameters from the configuration file."""
         self.lqr_params.q_surge = self.get_parameter("LQR_params.q_surge").value
         self.lqr_params.q_pitch = self.get_parameter("LQR_params.q_pitch").value
@@ -211,9 +211,9 @@ def get_parameters(self) -> None:
         self.lqr_params.i_yaw = self.get_parameter("LQR_params.i_yaw").value
 
         self.lqr_params.i_weight = self.get_parameter("LQR_params.i_weight").value
-        self.lqr_params.max_force = self.get_parameter("max_force").value
+        self.lqr_params.max_force = self.get_parameter("propulsion.thrusters.max").value
 
-        self.dt = self.get_parameter("LQR_params.dt").value
+        self.dt = self.get_parameter("dt").value
 
     def get_and_reshape_inertia_matrix(self) -> None:
         """Gets the inertia matrix from config and reshapes it to proper np array."""
@@ -291,14 +291,15 @@ def control_loop(self) -> None:
             self.controller.reset_controller()
             return
 
-        msg = Wrench()
+        msg = WrenchStamped()
 
         u = self.controller.calculate_lqr_u(
-            self.coriolis_matrix, self.states, self.guidance_values
+           self.coriolis_matrix, self.states, self.guidance_values
         )
-        msg.force.x = float(u[0])
-        msg.torque.y = float(u[1])
-        msg.torque.z = float(u[2])
+        
+        msg.wrench.force.x = float(u[0])
+        msg.wrench.torque.y = float(u[1])
+        msg.wrench.torque.z = float(u[2])
 
         self.publisherLQR.publish(msg)
 

From 782f78e475f6943dace27017531f53939669356f Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Wed, 1 Oct 2025 20:40:10 +0000
Subject: [PATCH 13/13] [pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci
---
 .../launch/velocity_controller_lqr.launch.py  |  2 +-
 .../velocity_controller_lqr/requirements.txt  |  2 +-
 .../scripts/velocity_controller_lqr_node.py   | 27 ++++++++++++-------
 3 files changed, 19 insertions(+), 12 deletions(-)

diff --git a/control/velocity_controller_lqr/launch/velocity_controller_lqr.launch.py b/control/velocity_controller_lqr/launch/velocity_controller_lqr.launch.py
index 4826c240b..cda6e32b3 100644
--- a/control/velocity_controller_lqr/launch/velocity_controller_lqr.launch.py
+++ b/control/velocity_controller_lqr/launch/velocity_controller_lqr.launch.py
@@ -21,7 +21,7 @@ def generate_launch_description() -> LaunchDescription:
         "config",
         "param_velocity_controller_lqr.yaml",
     )
-    
+
     topic_file = os.path.join(
         get_package_share_directory("auv_setup"),
         "config",
diff --git a/control/velocity_controller_lqr/requirements.txt b/control/velocity_controller_lqr/requirements.txt
index 904eea556..2c2b91d3e 100644
--- a/control/velocity_controller_lqr/requirements.txt
+++ b/control/velocity_controller_lqr/requirements.txt
@@ -1 +1 @@
-numpy<1.25.0
\ No newline at end of file
+numpy<1.25.0
diff --git a/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py b/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
index ecd5a22cf..fdbeac82a 100644
--- a/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
+++ b/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
@@ -1,15 +1,22 @@
 #!/usr/bin/env python3
 import numpy as np
 import rclpy
-from geometry_msgs.msg import (PoseWithCovarianceStamped,
-                               TwistWithCovarianceStamped, WrenchStamped)
+from geometry_msgs.msg import (
+    PoseWithCovarianceStamped,
+    TwistWithCovarianceStamped,
+    WrenchStamped,
+)
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.lifecycle import LifecycleNode
 from rclpy.lifecycle.node import LifecycleState, TransitionCallbackReturn
 from rclpy.qos import HistoryPolicy, QoSProfile, ReliabilityPolicy
 from std_msgs.msg import Bool, String
 from velocity_controller_lqr.velocity_controller_lqr_lib import (
-    GuidanceValues, LQRController, LQRParameters, State)
+    GuidanceValues,
+    LQRController,
+    LQRParameters,
+    State,
+)
 from vortex_msgs.msg import LOSGuidance
 
 
@@ -144,7 +151,7 @@ def get_topics(self) -> None:
         thrust_topic: str: The topic for accessing the thrust data from the parameter file
         software_operation_mode_topic: str: The topic for accessing the operation mode from the parameter file
         killswitch_topic: str: The topic for accessing the killswitch bool from the parameter file
-        
+
         """
         self.declare_parameter("topics.pose", "_")
         self.declare_parameter("topics.twist", "_")
@@ -172,23 +179,23 @@ def get_topics(self) -> None:
     def declare_params(self) -> None:
         """Declares parameters that are to be used from the configuration file."""
         self.get_logger().info("cool")
-        
+
         self.declare_parameter("LQR_params.q_surge", 0.0)
         self.declare_parameter("LQR_params.q_pitch", 0.0)
         self.declare_parameter("LQR_params.q_yaw", 0.0)
-        
+
         self.get_logger().info("yaw")
 
         self.declare_parameter("LQR_params.r_surge", 0.0)
         self.declare_parameter("LQR_params.r_pitch", 0.0)
         self.declare_parameter("LQR_params.r_yaw", 0.0)
-        
+
         self.get_logger().info("shaw")
 
         self.declare_parameter("LQR_params.i_surge", 0.0)
         self.declare_parameter("LQR_params.i_pitch", 0.0)
         self.declare_parameter("LQR_params.i_yaw", 0.0)
-        
+
         self.get_logger().info("garhamat")
 
         self.declare_parameter("LQR_params.i_weight", 0.0)
@@ -294,9 +301,9 @@ def control_loop(self) -> None:
         msg = WrenchStamped()
 
         u = self.controller.calculate_lqr_u(
-           self.coriolis_matrix, self.states, self.guidance_values
+            self.coriolis_matrix, self.states, self.guidance_values
         )
-        
+
         msg.wrench.force.x = float(u[0])
         msg.wrench.torque.y = float(u[1])
         msg.wrench.torque.z = float(u[2])