Commit 6f677782 authored by Olivier Stasse's avatar Olivier Stasse

Reflects changes in roscontrol_sot to talos package.

parent 29d68ee7
......@@ -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
......@@ -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
......@@ -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
......@@ -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 -->
......
......@@ -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 -->
......
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