Skip to content
GitLab
Projects
Groups
Snippets
/
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in / Register
Toggle navigation
Menu
Open sidebar
Stack Of Tasks
talos-metapkg-ros-control-sot
Commits
6f677782
Commit
6f677782
authored
May 15, 2018
by
Olivier Stasse
Browse files
Reflects changes in roscontrol_sot to talos package.
parent
29d68ee7
Changes
5
Hide whitespace changes
Inline
Side-by-side
roscontrol_sot_talos/config/sot_talos_params.yaml
View file @
6f677782
...
...
@@ -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
View file @
6f677782
...
...
@@ -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
View file @
6f677782
...
...
@@ -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
View file @
6f677782
...
...
@@ -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
View file @
6f677782
...
...
@@ -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 -->
...
...
Write
Preview
Supports
Markdown
0%
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment