Skip to content
GitLab
Projects
Groups
Snippets
Help
Loading...
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in / Register
Toggle navigation
T
talos-metapkg-ros-control-sot
Project overview
Project overview
Details
Activity
Releases
Repository
Repository
Files
Commits
Branches
Tags
Contributors
Graph
Compare
Issues
1
Issues
1
List
Boards
Labels
Service Desk
Milestones
Merge Requests
0
Merge Requests
0
CI / CD
CI / CD
Pipelines
Jobs
Schedules
Operations
Operations
Incidents
Environments
Packages & Registries
Packages & Registries
Container Registry
Analytics
Analytics
CI / CD
Repository
Value Stream
Wiki
Wiki
Snippets
Snippets
Members
Members
Collapse sidebar
Close sidebar
Activity
Graph
Create a new issue
Jobs
Commits
Issue Boards
Open sidebar
Stack Of Tasks
talos-metapkg-ros-control-sot
Commits
f3465df9
Commit
f3465df9
authored
Jul 19, 2018
by
Olivier Stasse
Browse files
Options
Browse Files
Download
Email Patches
Plain Diff
For starting the effort part we switch to gains.
parent
abdb87a0
Changes
2
Hide whitespace changes
Inline
Side-by-side
Showing
2 changed files
with
55 additions
and
1 deletion
+55
-1
roscontrol_sot_talos/config/pids_effort.yaml
roscontrol_sot_talos/config/pids_effort.yaml
+54
-0
roscontrol_sot_talos/launch/sot_talos_controller_effort.launch
...ntrol_sot_talos/launch/sot_talos_controller_effort.launch
+1
-1
No files found.
roscontrol_sot_talos/config/pids_effort.yaml
0 → 100644
View file @
f3465df9
gains
:
leg_left_1_joint
:
&leg_1_gains
{
p
:
100
,
d
:
0
,
i
:
5
,
i_clamp
:
7
,
torque_clamp
:
60
}
leg_left_2_joint
:
&leg_2_gains
{
p
:
120
,
d
:
0
,
i
:
5
,
i_clamp
:
14
,
torque_clamp
:
160
}
leg_left_3_joint
:
&leg_3_gains
{
p
:
100
,
d
:
0
,
i
:
5
,
i_clamp
:
14
,
torque_clamp
:
160
}
leg_left_4_joint
:
&leg_4_gains
{
p
:
130
,
d
:
0
,
i
:
5
,
i_clamp
:
25
,
torque_clamp
:
300
}
leg_left_5_joint
:
&leg_5_gains
{
p
:
75
,
d
:
0
,
i
:
5
,
i_clamp
:
14
,
torque_clamp
:
160
}
leg_left_6_joint
:
&leg_6_gains
{
p
:
75
,
d
:
0
,
i
:
5
,
i_clamp
:
9
,
torque_clamp
:
100
}
leg_right_1_joint
:
*leg_1_gains
leg_right_2_joint
:
*leg_2_gains
leg_right_3_joint
:
*leg_3_gains
leg_right_4_joint
:
*leg_4_gains
leg_right_5_joint
:
*leg_5_gains
leg_right_6_joint
:
*leg_6_gains
head_1_joint
:
{
p
:
1
,
d
:
0.0
,
i
:
1
,
i_clamp
:
5
,
torque_clamp
:
8
}
head_2_joint
:
{
p
:
1
,
d
:
0.0
,
i
:
1
,
i_clamp
:
1.5
,
torque_clamp
:
8
}
torso_1_joint
:
{
p
:
30
,
d
:
0
,
i
:
1
,
i_clamp
:
10
,
torque_clamp
:
100
}
torso_2_joint
:
{
p
:
30
,
d
:
0
,
i
:
1
,
i_clamp
:
10
,
torque_clamp
:
100
}
arm_right_1_joint
:
&arm_1_gains
{
p
:
20
,
d
:
0
,
i
:
0
,
i_clamp
:
14
,
torque_clamp
:
150
}
arm_right_2_joint
:
&arm_2_gains
{
p
:
100
,
d
:
0
,
i
:
0
,
i_clamp
:
14
,
torque_clamp
:
150
}
arm_right_3_joint
:
&arm_3_gains
{
p
:
50
,
d
:
0
,
i
:
0
,
i_clamp
:
9
,
torque_clamp
:
100
}
arm_right_4_joint
:
&arm_4_gains
{
p
:
50
,
d
:
0
,
i
:
0
,
i_clamp
:
9
,
torque_clamp
:
100
}
arm_right_5_joint
:
&arm_5_gains
{
p
:
50
,
d
:
0
,
i
:
0
,
i_clamp
:
5
,
torque_clamp
:
50
}
arm_right_6_joint
:
&arm_6_gains
{
p
:
30
,
d
:
0
,
i
:
0
,
i_clamp
:
3
,
torque_clamp
:
30
}
arm_right_7_joint
:
&arm_7_gains
{
p
:
30
,
d
:
0
,
i
:
0
,
i_clamp
:
3
,
torque_clamp
:
30
}
arm_left_1_joint
:
*arm_1_gains
arm_left_2_joint
:
*arm_2_gains
arm_left_3_joint
:
*arm_3_gains
arm_left_4_joint
:
*arm_4_gains
arm_left_5_joint
:
*arm_5_gains
arm_left_6_joint
:
*arm_6_gains
arm_left_7_joint
:
*arm_7_gains
gripper_left_joint
:
{
p
:
0.002
,
d
:
0
,
i
:
0
,
i_clamp
:
10
,
torque_clamp
:
100
}
gripper_right_joint
:
{
p
:
0.002
,
d
:
0
,
i
:
0
,
i_clamp
:
10
,
torque_clamp
:
100
}
#https://answers.ros.org/question/283537/how-to-do-mimic-joints-that-work-in-gazebo/
gripperleft_inner_double_joint
:
&gripper_gains
{
p
:
20
,
d
:
0.0
,
i
:
0.0
,
i_clamp
:
0.2
,
antiwindup
:
false
}
gripper_left_fingertip_1_joint
:
*gripper_gains
gripper_left_fingertip_2_joint
:
*gripper_gains
gripper_left_motor_single_joint
:
*gripper_gains
gripper_left_fingertip_3_joint
:
*gripper_gains
gripper_left_inner_single_joint
:
*gripper_gains
gripper_left_inner_double_joint
:
*gripper_gains
gripper_right_inner_double_joint
:
*gripper_gains
gripper_right_fingertip_1_joint
:
*gripper_gains
gripper_right_fingertip_2_joint
:
*gripper_gains
gripper_right_motor_single_joint
:
*gripper_gains
gripper_right_fingertip_3_joint
:
*gripper_gains
gripper_right_inner_single_joint
:
*gripper_gains
roscontrol_sot_talos/launch/sot_talos_controller_effort.launch
View file @
f3465df9
...
...
@@ -2,7 +2,7 @@
<!-- 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" ns="/sot_controller/effort_control_pd_motor_init" file="$(find
roscontrol_sot_talos)/config/pids_effort
.yaml"/>
<rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_controller.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" />
...
...
Write
Preview
Markdown
is supported
0%
Try again
or
attach a new file
.
Attach a 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