Reflects changes in roscontrol_sot to talos package.

roscontrol_sot_talos/config/sot_talos_params.yaml

@@ -8,6 +8,73 @@ sot_controller:
   ]
   map_rc_to_sot_device: { motor-angles: motor-angles ,
   joint-angles: joint-angles, velocities: velocities,
-  torques: torques, cmd-positions: control, cmd-effort: control }
+  torques: torques, cmd-joints: control, cmd-effort: control }
+  position_control_init_pos:
+    - name: leg_left_1_joint
+      des_pos: 0.0
+    - name: leg_left_2_joint
+      des_pos: 0.0
+    - name: leg_left_3_joint
+      des_pos: -0.411354
+    - name: leg_left_4_joint
+      des_pos: 0.859395
+    - name: leg_left_5_joint
+      des_pos: -0.448041
+    - name: leg_left_6_joint
+      des_pos: -0.001708
+    - name: leg_right_1_joint
+      des_pos: 0.0
+    - name: leg_right_2_joint
+      des_pos: 0.0
+    - name: leg_right_3_joint
+      des_pos: -0.411354
+    - name: leg_right_4_joint
+      des_pos: 0.859395
+    - name: leg_right_5_joint
+      des_pos: -0.448041
+    - name: leg_right_6_joint
+      des_pos: -0.001708
+    - name: torso_1_joint
+      des_pos: 0.0
+    - name: torso_2_joint
+      des_pos: 0.006761
+    - name: arm_left_1_joint
+      des_pos: 0.25847
+    - name: arm_left_2_joint
+      des_pos: 0.173046
+    - name: arm_left_3_joint
+      des_pos: 0.0002
+    - name: arm_left_4_joint
+      des_pos: -0.525366
+    - name: arm_left_5_joint
+      des_pos: 0.0
+    - name: arm_left_6_joint
+      des_pos: 0.1
+    - name: arm_left_7_joint
+      des_pos: 0.1
+    - name: gripper_left_joint
+      des_pos: -0.005
+    - name: arm_right_1_joint
+      des_pos: -0.25847
+    - name: arm_right_2_joint
+      des_pos: -0.173046
+    - name: arm_right_3_joint
+      des_pos: 0.0002
+    - name: arm_right_4_joint
+      des_pos: -0.525366
+    - name: arm_right_5_joint
+      des_pos: 0.0
+    - name: arm_right_6_joint
+      des_pos: 0.1
+    - name: arm_right_7_joint
+      des_pos: 0.1
+    - name: gripper_right_joint
+      des_pos: -0.005 
+    - name: head_1_joint
+      des_pos:: 0.0
+    - name: head_2_joint
+      des_pos:: 0.0   
   control_mode: POSITION
   dt: 0.001
+  jitter: 0.0004
+  

roscontrol_sot_talos/config/sot_talos_params_effort.yaml

@@ -9,134 +9,6 @@ sot_controller:
   map_rc_to_sot_device: { motor-angles: motor-angles ,
   joint-angles: joint-angles, velocities: velocities, forces: forces, currents: currents,
   torques: torques, cmd-joints: control, cmd-effort: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
-  effort_control_pd_motor_init:
-    - name: leg_left_1_joint
-      p_gain: 100.0
-      d_gain: 0.0
-      des_pos: 0.0
-    - name: leg_left_2_joint
-      p_gain: 120.0
-      d_gain: 0.0
-      des_pos: 0.0
-    - name: leg_left_3_joint
-      p_gain: 100.0
-      d_gain: 0.0
-      des_pos: -0.411354
-    - name: leg_left_4_joint
-      p_gain: 130.0
-      d_gain: 0.0
-      des_pos: 0.859395
-    - name: leg_left_5_joint
-      p_gain: 75.0
-      d_gain: 0.0
-      des_pos: -0.448041
-    - name: leg_left_6_joint
-      p_gain: 75.0
-      d_gain: 0.0
-      des_pos: -0.001708
-    - name: leg_right_1_joint
-      p_gain: 100.0
-      d_gain: 0.0
-      des_pos: 0.0
-    - name: leg_right_2_joint
-      p_gain: 120.0
-      d_gain: 0.0
-      des_pos: 0.0
-    - name: leg_right_3_joint
-      p_gain: 100.0
-      d_gain: 0.0
-      des_pos: -0.411354
-    - name: leg_right_4_joint
-      p_gain: 130.0
-      d_gain: 0.0
-      des_pos: 0.859395
-    - name: leg_right_5_joint
-      p_gain: 75.0
-      d_gain: 0.0
-      des_pos: -0.448041
-    - name: leg_right_6_joint
-      p_gain: 75.0
-      d_gain: 0.0
-      des_pos: -0.001708
-    - name: torso_1_joint
-      p_gain: 30.0
-      d_gain: 0.0
-      des_pos: 0.0
-    - name: torso_2_joint
-      p_gain: 30.0
-      d_gain: 0.0
-      des_pos: 0.006761
-    - name: arm_left_1_joint
-      p_gain: 20.0
-      d_gain: 0.0
-      des_pos: 0.25847
-    - name: arm_left_2_joint
-      p_gain: 100.0
-      d_gain: 0.0
-      des_pos: 0.173046
-    - name: arm_left_3_joint
-      p_gain: 50.0
-      d_gain: 0.0
-      des_pos: 0.0002
-    - name: arm_left_4_joint
-      p_gain: 50.0
-      d_gain: 0.0
-      des_pos: -0.525366
-    - name: arm_left_5_joint
-      p_gain: 50.0
-      d_gain: 0.0
-      des_pos: 0.0
-    - name: arm_left_6_joint
-      p_gain: 30.0
-      d_gain: 0.0
-      des_pos: 0.1
-    - name: arm_left_7_joint
-      p_gain: 30.0
-      d_gain: 0.0
-      des_pos: 0.1
-    - name: gripper_left_joint
-      p_gain: 0.002
-      d_gain: 0.0
-      des_pos: -0.005
-    - name: arm_right_1_joint
-      p_gain: 20.0
-      d_gain: 0.0
-      des_pos: -0.25847
-    - name: arm_right_2_joint
-      p_gain: 100.0
-      d_gain: 0.0
-      des_pos: -0.173046
-    - name: arm_right_3_joint
-      p_gain: 50.0
-      d_gain: 0.0
-      des_pos: 0.0002
-    - name: arm_right_4_joint
-      p_gain: 50.0
-      d_gain: 0.0
-      des_pos: -0.525366
-    - name: arm_right_5_joint
-      p_gain: 50.0
-      d_gain: 0.0
-      des_pos: 0.0
-    - name: arm_right_6_joint
-      p_gain: 30.0
-      d_gain: 0.0
-      des_pos: 0.1
-    - name: arm_right_7_joint
-      p_gain: 30.0
-      d_gain: 0.0
-      des_pos: 0.1
-    - name: gripper_right_joint
-      p_gain: 0.002
-      d_gain: 0.0
-      des_pos: -0.005 
-    - name: head_1_joint
-      p_gain: 1.0
-      d_gain: 0.0
-      des_pos:: 0.0
-    - name: head_2_joint
-      p_gain: 1.0
-      d_gain: 0.0
-      des_pos:: 0.0      
   control_mode: EFFORT
-  dt: 0.001
\ No newline at end of file
+  dt: 0.001
+  jitter: 0.0004	
\ No newline at end of file

roscontrol_sot_talos/config/sot_talos_params_gazebo.yaml

@@ -3,12 +3,78 @@ sot_controller:
   simulation_mode: gazebo
   joint_names: [ leg_left_1_joint, leg_left_2_joint, leg_left_3_joint, leg_left_4_joint, leg_left_5_joint, leg_left_6_joint,
     leg_right_1_joint, leg_right_2_joint, leg_right_3_joint, leg_right_4_joint, leg_right_5_joint, leg_right_6_joint,
-    torso_1_joint,torso_2_joint,
+    torso_1_joint,torso_2_joint,    head_1_joint, head_2_joint, 
     arm_left_1_joint, arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint, arm_left_7_joint, gripper_left_joint,
-    arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, gripper_right_joint,
-    head_1_joint, head_2_joint ]
+    arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, gripper_right_joint
+  ]
   map_rc_to_sot_device: { motor-angles: motor-angles ,
   joint-angles: joint-angles, velocities: velocities,
   torques: torques, cmd-joints: control, cmd-effort: control }
+  position_control_init_pos:
+    - name: leg_left_1_joint
+      des_pos: 0.0
+    - name: leg_left_2_joint
+      des_pos: 0.0
+    - name: leg_left_3_joint
+      des_pos: -0.411354
+    - name: leg_left_4_joint
+      des_pos: 0.859395
+    - name: leg_left_5_joint
+      des_pos: -0.448041
+    - name: leg_left_6_joint
+      des_pos: -0.001708
+    - name: leg_right_1_joint
+      des_pos: 0.0
+    - name: leg_right_2_joint
+      des_pos: 0.0
+    - name: leg_right_3_joint
+      des_pos: -0.411354
+    - name: leg_right_4_joint
+      des_pos: 0.859395
+    - name: leg_right_5_joint
+      des_pos: -0.448041
+    - name: leg_right_6_joint
+      des_pos: -0.001708
+    - name: torso_1_joint
+      des_pos: 0.0
+    - name: torso_2_joint
+      des_pos: 0.006761
+    - name: arm_left_1_joint
+      des_pos: 0.25847
+    - name: arm_left_2_joint
+      des_pos: 0.173046
+    - name: arm_left_3_joint
+      des_pos: 0.0002
+    - name: arm_left_4_joint
+      des_pos: -0.525366
+    - name: arm_left_5_joint
+      des_pos: 0.0
+    - name: arm_left_6_joint
+      des_pos: 0.1
+    - name: arm_left_7_joint
+      des_pos: 0.1
+    - name: gripper_left_joint
+      des_pos: -0.005
+    - name: arm_right_1_joint
+      des_pos: -0.25847
+    - name: arm_right_2_joint
+      des_pos: -0.173046
+    - name: arm_right_3_joint
+      des_pos: 0.0002
+    - name: arm_right_4_joint
+      des_pos: -0.525366
+    - name: arm_right_5_joint
+      des_pos: 0.0
+    - name: arm_right_6_joint
+      des_pos: 0.1
+    - name: arm_right_7_joint
+      des_pos: 0.1
+    - name: gripper_right_joint
+      des_pos: -0.005 
+    - name: head_1_joint
+      des_pos:: 0.0
+    - name: head_2_joint
+      des_pos:: 0.0   
   control_mode: POSITION
-  dt: 0.001
\ No newline at end of file
+  dt: 0.001
+  jitter: 0.0004
\ No newline at end of file

roscontrol_sot_talos/launch/sot_talos_controller_effort.launch

@@ -2,8 +2,8 @@
 
   <!-- Sot Controller configuration -->
   <rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_params_effort.yaml"/>
+  <rosparam command="load" ns="/sot_controller/effort_control_pd_motor_init" file="$(find talos_hardware_gazebo)/config/pids.yaml"/>
   <rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_controller.yaml" />
-  <rosparam command="load" file="$(find roscontrol_sot_talos)/config/pids.yaml" />
   
   <env name="PYTHONPATH" value="/opt/pal/dubnium/lib/python2.7/dist-packages:/opt/ros/indigo/lib/python2.7/dist-packages:/opt/openrobots/lib/python2.7/dist-packages:/opt/openrobots/lib/python2.7/site-packages" />
   <!-- Spawn walking controller -->

roscontrol_sot_talos/launch/sot_talos_controller_gazebo_effort.launch

@@ -2,7 +2,7 @@
 
   <!-- Sot Controller configuration -->
   <rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_params_gazebo_effort.yaml"/>
-  <rosparam command="load" ns="/sot_controller/effort_control_pd_motor_init" file="$(find hardware_gazebo)/config/pids.yaml"/>
+  <rosparam command="load" ns="/sot_controller/effort_control_pd_motor_init" file="$(find talos_hardware_gazebo)/config/pids.yaml"/>
   <rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_controller.yaml" />
   
   <!-- Spawn sot controller -->