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I added a new ROS2 C++ package, navigator_thrust_mapper, and implemented a preliminary node that converts high-level wrench commands into per‑thruster outputs. I also added a simple placeholder mapping (a basic 4‑thruster formula) and updated the build files so the package builds cleanly. This is an initial scaffold for testing and iteration — it’s functional but still preliminary. Next steps are to port the full Python mapping logic, replace the placeholder with a URDF‑based allocator, and add safety and hardware integration.
- Implement complete ThrusterMap class in C++ with all Python logic - Add VRX force-to-command conversion functions (scalar and vectorized) - Implement least-squares thrust allocation using Eigen SVD pseudoinverse - Create linear force-to-command generator for custom scaling ratios - Add comprehensive unit tests (thruster_map_test) verifying all conversions - Build succeeds with no errors or warnings - All 4 core test cases pass: * VRX force conversion across full range (-150 to 300 N) * Vectorized force processing * Linear force-to-command generation * Wrench-to-thrusts allocation with correct pseudoinverse computation - ROS2 package properly configured with ament_cmake and Eigen3 dependency - Executables: thruster_mapper_node (ROS2 node) and thruster_map_test (standalone)
Port thrust_mapper.py to C++ with full feature parity. Implements VRX inverse dynamics, SVD-based thrust allocation, kill alarm handling, and comprehensive unit tests. All tests passing, clean build.
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I believe this is the finalized and working code for Thrust Mapper with ROS2 and C++.