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talos-metapkg-ros-control-sot
Commits
f8db9af3
Commit
f8db9af3
authored
Jul 04, 2018
by
Joseph Mirabel
Committed by
Joseph Mirabel
Jul 04, 2018
Browse files
In position control, send currents, accelerometer and gyrometer to SOT.
parent
a7e2fedf
Changes
2
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roscontrol_sot_talos/config/sot_talos_params.yaml
View file @
f8db9af3
...
...
@@ -7,8 +7,8 @@ sot_controller:
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
]
map_rc_to_sot_device
:
{
motor-angles
:
motor-angles
,
joint-angles
:
joint-angles
,
velocities
:
velocities
,
torques
:
torques
,
cmd-joints
:
control
,
cmd-effort
:
control
}
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
}
position_control_init_pos
:
-
name
:
leg_left_1_joint
des_pos
:
0.0
...
...
roscontrol_sot_talos/config/sot_talos_params_gazebo.yaml
View file @
f8db9af3
...
...
@@ -8,8 +8,8 @@ sot_controller:
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
]
map_rc_to_sot_device
:
{
motor-angles
:
motor-angles
,
joint-angles
:
joint-angles
,
velocities
:
velocities
,
torques
:
torques
,
cmd-joints
:
control
,
cmd-effort
:
control
}
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
}
position_control_init_pos
:
-
name
:
leg_left_1_joint
des_pos
:
0.0
...
...
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