Robotic-Decision-Making-Lab · mergify · May 7, 2026
diff --git a/auv_control_demos/CHANGELOG.md b/auv_control_demos/CHANGELOG.md
@@ -1,5 +1,7 @@
 # Changelog for package auv_control_demos
 
+## 0.4.3 (2026-04-25)
+
 ## 0.4.2 (2026-03-30)
 
 ## 0.4.1 (2026-02-23)

diff --git a/auv_control_demos/package.xml b/auv_control_demos/package.xml
@@ -3,7 +3,7 @@
 <package format="3">
 
   <name>auv_control_demos</name>
-  <version>0.4.2</version>
+  <version>0.4.3</version>
   <description>Example package that includes demos for using auv_controllers in individual and chained modes</description>
 
   <maintainer email="evanp922@gmail.com">Evan Palmer</maintainer>

diff --git a/auv_control_msgs/CHANGELOG.md b/auv_control_msgs/CHANGELOG.md
@@ -1,5 +1,7 @@
 # Changelog for package auv_control_msgs
 
+## 0.4.3 (2026-04-25)
+
 ## 0.4.2 (2026-03-30)
 
 - Implements the ImpedanceStateStamped message.

diff --git a/auv_control_msgs/package.xml b/auv_control_msgs/package.xml
@@ -3,7 +3,7 @@
 <package format="3">
 
   <name>auv_control_msgs</name>
-  <version>0.4.2</version>
+  <version>0.4.3</version>
   <description>Custom messages for AUV controllers</description>
 
   <maintainer email="evanp922@gmail.com">Evan Palmer</maintainer>

diff --git a/auv_controllers/CHANGELOG.md b/auv_controllers/CHANGELOG.md
@@ -1,5 +1,7 @@
 # Changelog for package auv_controllers
 
+## 0.4.3 (2026-04-25)
+
 ## 0.4.2 (2026-03-30)
 
 - Implements the ImpedanceStateStamped message

diff --git a/auv_controllers/package.xml b/auv_controllers/package.xml
@@ -3,7 +3,7 @@
 <package format="3">
 
   <name>auv_controllers</name>
-  <version>0.4.2</version>
+  <version>0.4.3</version>
   <description>Meta package for auv_controllers</description>
 
   <maintainer email="evanp922@gmail.com">Evan Palmer</maintainer>

diff --git a/controller_common/CHANGELOG.md b/controller_common/CHANGELOG.md
@@ -1,5 +1,7 @@
 # Changelog for package controller_common
 
+## 0.4.3 (2026-04-25)
+
 ## 0.4.2 (2026-03-30)
 
 ## 0.4.1 (2026-02-23)

diff --git a/controller_common/package.xml b/controller_common/package.xml
@@ -3,7 +3,7 @@
 <package format="3">
 
   <name>controller_common</name>
-  <version>0.4.2</version>
+  <version>0.4.3</version>
   <description>Common interfaces for controllers used in this project</description>
 
   <maintainer email="evanp922@gmail.com">Evan Palmer</maintainer>

diff --git a/controller_coordinator/CHANGELOG.md b/controller_coordinator/CHANGELOG.md
@@ -1,5 +1,7 @@
 # Changelog for package controller_coordinator
 
+## 0.4.3 (2026-04-25)
+
 ## 0.4.2 (2026-03-30)
 
 - Fixes hardware activation bug

diff --git a/controller_coordinator/package.xml b/controller_coordinator/package.xml
@@ -3,7 +3,7 @@
 <package format="3">
 
   <name>controller_coordinator</name>
-  <version>0.4.2</version>
+  <version>0.4.3</version>
   <description>A high-level node used to load and activate/deactivate control systems</description>
 
   <maintainer email="evanp922@gmail.com">Evan Palmer</maintainer>

diff --git a/ik_solvers/CHANGELOG.md b/ik_solvers/CHANGELOG.md
@@ -1,5 +1,7 @@
 # Changelog for package ik_solvers
 
+## 0.4.3 (2026-04-25)
+
 ## 0.4.2 (2026-03-30)
 
 ## 0.4.1 (2026-02-23)

diff --git a/ik_solvers/package.xml b/ik_solvers/package.xml
@@ -3,7 +3,7 @@
 <package format="3">
 
   <name>ik_solvers</name>
-  <version>0.4.2</version>
+  <version>0.4.3</version>
   <description>Inverse kinematics solvers used for whole-body control</description>
 
   <maintainer email="evanp922@gmail.com">Evan Palmer</maintainer>

diff --git a/impedance_controller/CHANGELOG.md b/impedance_controller/CHANGELOG.md
@@ -1,5 +1,7 @@
 # Changelog for package impedance_controller
 
+## 0.4.3 (2026-04-25)
+
 ## 0.4.2 (2026-03-30)
 
 - Addresses various bugs in implementation

diff --git a/impedance_controller/package.xml b/impedance_controller/package.xml
@@ -3,7 +3,7 @@
 <package format="3">
 
   <name>impedance_controller</name>
-  <version>0.4.2</version>
+  <version>0.4.3</version>
   <description>An impedance controller for underwater vehicles</description>
 
   <maintainer email="evanp922@gmail.com">Evan Palmer</maintainer>

diff --git a/thruster_allocation_matrix_controller/CHANGELOG.md b/thruster_allocation_matrix_controller/CHANGELOG.md
@@ -1,5 +1,7 @@
 # Changelog for package thruster_allocation_matrix_controller
 
+## 0.4.3 (2026-04-25)
+
 ## 0.4.2 (2026-03-30)
 
 ## 0.4.1 (2026-02-23)

diff --git a/thruster_allocation_matrix_controller/package.xml b/thruster_allocation_matrix_controller/package.xml
@@ -3,7 +3,7 @@
 <package format="3">
 
   <name>thruster_allocation_matrix_controller</name>
-  <version>0.4.2</version>
+  <version>0.4.3</version>
   <description>Thruster allocation matrix controller used to convert wrench commands into thrust commands</description>
 
   <maintainer email="evanp922@gmail.com">Evan Palmer</maintainer>

diff --git a/thruster_controllers/CHANGELOG.md b/thruster_controllers/CHANGELOG.md
@@ -1,5 +1,10 @@
 # Changelog for package thruster_controllers
 
+## 0.4.3 (2026-04-25)
+
+- Implements a `reverse_spin_direction` parameter into the thrust curve
+controller.
+
 ## 0.4.2 (2026-03-30)
 
 ## 0.4.1 (2026-02-23)

diff --git a/thruster_controllers/package.xml b/thruster_controllers/package.xml
@@ -3,7 +3,7 @@
 <package format="3">
 
   <name>thruster_controllers</name>
-  <version>0.4.2</version>
+  <version>0.4.3</version>
   <description>A collection of thruster controllers for AUV control</description>
 
   <maintainer email="evanp922@gmail.com">Evan Palmer</maintainer>

diff --git a/thruster_controllers/src/polynomial_thrust_curve_controller.cpp b/thruster_controllers/src/polynomial_thrust_curve_controller.cpp
@@ -145,10 +145,11 @@ auto PolynomialThrustCurveController::update_and_write_commands(
   const rclcpp::Time & time,
   const rclcpp::Duration & period) -> controller_interface::return_type
 {
-  const auto reference = reference_interfaces_[0];
+  auto reference = reference_interfaces_[0];
   int pwm = params_.neutral_pwm;
 
   if (!std::isnan(reference)) {
+    reference = params_.reverse_spin_direction ? -reference : reference;
     const double clamped_reference = std::clamp(reference, params_.min_thrust, params_.max_thrust);
     pwm = calculate_pwm_from_thrust_curve(clamped_reference, params_.thrust_curve_coefficients);
     pwm = pwm > params_.min_deadband_pwm && pwm < params_.max_deadband_pwm ? params_.neutral_pwm : pwm;

diff --git a/thruster_controllers/src/polynomial_thrust_curve_controller_parameters.yaml b/thruster_controllers/src/polynomial_thrust_curve_controller_parameters.yaml
@@ -46,3 +46,15 @@ polynomial_thrust_curve_controller:
     default_value: 0
     read_only: true
     description: A safe PWM value that is known to apply zero thrust.
+
+  reverse_spin_direction:
+    type: bool
+    default_value: false
+    read_only: true
+    description: >
+      Reverse the spin direction of the thruster. This can be used to ensure
+      that the force generated by the thruster matches the defined thruster
+      coordinate frame. This is applied *before* the thrust clamp is applied.
+      In general, "forward" spin corresponds to positive thrust and reverse spin
+      corresponds to negative. This may vary depending on the ESC and thruster
+      configuration.
diff --git a/topic_sensors/CHANGELOG.md b/topic_sensors/CHANGELOG.md
@@ -1,5 +1,7 @@
 # Changelog for package topic_sensors
 
+## 0.4.3 (2026-04-25)
+
 ## 0.4.2 (2026-03-30)
 
 ## 0.4.1 (2026-02-23)

diff --git a/topic_sensors/package.xml b/topic_sensors/package.xml
@@ -3,7 +3,7 @@
 <package format="3">
 
   <name>topic_sensors</name>
-  <version>0.4.2</version>
+  <version>0.4.3</version>
   <description>Sensor plugins used to write ROS 2 messages to state interfaces</description>
 
   <maintainer email="evanp922@gmail.com">Evan Palmer</maintainer>

diff --git a/trajectory_controllers/CHANGELOG.md b/trajectory_controllers/CHANGELOG.md
@@ -1,5 +1,7 @@
 # Changelog for package trajectory_controllers
 
+## 0.4.3 (2026-04-25)
+
 ## 0.4.2 (2026-03-30)
 
 ## 0.4.1 (2026-02-23)

diff --git a/trajectory_controllers/package.xml b/trajectory_controllers/package.xml
@@ -3,7 +3,7 @@
 <package format="3">
 
   <name>trajectory_controllers</name>
-  <version>0.4.1</version>
+  <version>0.4.3</version>
   <description>Trajectory controllers for underwater vehicles and manipulator systems</description>
 
   <maintainer email="evanp922@gmail.com">Evan Palmer</maintainer>

diff --git a/velocity_controllers/CHANGELOG.md b/velocity_controllers/CHANGELOG.md
@@ -1,5 +1,7 @@
 # Changelog for package velocity_controllers
 
+## 0.4.3 (2026-04-25)
+
 ## 0.4.2 (2026-03-30)
 
 ## 0.4.1 (2026-02-23)

diff --git a/velocity_controllers/package.xml b/velocity_controllers/package.xml
@@ -3,7 +3,7 @@
 <package format="3">
 
   <name>velocity_controllers</name>
-  <version>0.4.2</version>
+  <version>0.4.3</version>
   <description>A collection of velocity controllers for underwater vehicles</description>
 
   <maintainer email="evanp922@gmail.com">Evan Palmer</maintainer>

diff --git a/whole_body_controllers/CHANGELOG.md b/whole_body_controllers/CHANGELOG.md
@@ -1,5 +1,7 @@
 # Changelog for package whole_body_controllers
 
+## 0.4.3 (2026-04-25)
+
 ## 0.4.2 (2026-03-30)
 
 ## 0.4.1 (2026-02-23)

diff --git a/whole_body_controllers/package.xml b/whole_body_controllers/package.xml
@@ -3,7 +3,7 @@
 <package format="3">
 
   <name>whole_body_controllers</name>
-  <version>0.4.2</version>
+  <version>0.4.3</version>
   <description>Whole-body controllers for underwater vehicle manipulator systems</description>
 
   <maintainer email="evanp922@gmail.com">Evan Palmer</maintainer>