Commit 2698d6a3 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by olivier stasse

Add documentation in README.

parent e08524f4
......@@ -34,5 +34,64 @@ roslaunch roscontrol_sot_tiago sot_tiago_controller_effort.launch
roslaunch sot_tiago_bringup geometric_simu.launch
``
## Parameters
The following parameters are read by Geometric Simu and / or Roscontrol Sot:
```yaml
sot_controller:
# Read by RS
verbosity_level: integer
log:
size: integer
# Read by GS and RS
# Ordered list of joints. Should be the same as in SoT
# All elements of this list must be in /robot_description
joint_names: [ list_of_joint_names ]
# Period between iterations of SoT
dt: double
# Read by RS
jitter: double
simulation_mode: boolean
libname: string
# Map of data communication between ROS and SoT.
map_rc_to_sot_device:
# ROS -> SoT
- motor-angles: motor-angles
- joint-angles: joint-angles
- velocities: velocities
- forces: forces
- currents: currents
- torques: torques
- accelerometer_0: accelerometer_0
- gyrometer_0: gyrometer_0
# SoT -> ROS
- control: control
# Define the type of control for each joint.
# CONTROL_MODE is one of POSITION, VELOCITY, EFFORT
control_mode:
joint_name_1:
ros_control_mode: CONTROL_MODE
joint_name_2:
ros_control_mode: CONTROL_MODE
# Control prior to execution of SoT.
# Whatever the control mode, the position of each joint is controlled
# to the position read when initializing roscontrol_sot.
effort_control_pd_motor_init:
gains:
joint_name: {p: 1, d: 0.0, i: 0, i_clamp: 1.5 }
velocity_control_pd_motor_init:
gains:
joint_name: {p: 1, d: 0.0, i: 0, i_clamp: 1.5 }
# Read by GS
joint_state_parallel:
# Eventually, add a minus sign before active_joint_name to invert the sign.
- passive_joint_name: active_joint_name
# Read by GS
geometric_simu:
paused: boolean
```
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