MATLAB-ROS communication for control of an autonomous sailboat

This repository contains a MATLAB file that:

• connects to an existing ROS master
• continuously receives position, orientation, and velocity data from a Gazebo sailboat simulator
• continuously outputs thrust values to the three thrusters on the boat: left, right and lateral
• converts quaternions into euler angles for easier understanding
• converts net force and moment about the centre-of-mass to thrusts

This repository is intended to testing the control system for UBC Sailbots. The control system will be receiving the position, orientation, and velocity data and will output a net force and moment to the boat. The conversion from the net force and moment to thrusts is shown by calculations in the image file in this repository.

Note: This MATLAB file requires the use of the Robotics Toolbox.