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tiago_metapkg_ros_control_sot
Commits
28d7a6a4
Commit
28d7a6a4
authored
May 26, 2020
by
Joseph Mirabel
Browse files
Move generation of list of joint names to a separate launch file.
parent
7654f791
Changes
6
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roscontrol_sot_tiago/config/sot_params.yaml
View file @
28d7a6a4
sot_controller
:
libname
:
libsot-tiago-steel-controller.so
joint_names
:
[
torso_lift_joint
,
arm_1_joint
,
arm_2_joint
,
arm_3_joint
,
arm_4_joint
,
arm_5_joint
,
arm_6_joint
,
arm_7_joint
,
gripper_finger_joint
,
head_1_joint
,
head_2_joint
]
map_rc_to_sot_device
:
{
motor-angles
:
motor-angles
,
joint-angles
:
joint-angles
,
velocities
:
velocities
,
forces
:
forces
,
currents
:
currents
,
torques
:
torques
,
accelerometer_0
:
accelerometer_0
,
gyrometer_0
:
gyrometer_0
,
...
...
@@ -26,11 +22,20 @@ sot_controller:
ros_control_mode
:
POSITION
arm_7_joint
:
ros_control_mode
:
POSITION
gripper_finger_joint
:
ros_control_mode
:
POSITION
head_1_joint
:
ros_control_mode
:
POSITION
head_2_joint
:
ros_control_mode
:
POSITION
gripper_finger_joint
:
ros_control_mode
:
POSITION
hand_thumb_joint
:
ros_control_mode
:
POSITION
hand_index_joint
:
ros_control_mode
:
POSITION
hand_mrl_joint
:
ros_control_mode
:
POSITION
dt
:
0.01
jitter
:
0.004
roscontrol_sot_tiago/config/sot_params_mobile_base.yaml
View file @
28d7a6a4
sot_controller
:
joint_names
:
[
wheel_left_joint
,
wheel_right_joint
,
torso_lift_joint
,
arm_1_joint
,
arm_2_joint
,
arm_3_joint
,
arm_4_joint
,
arm_5_joint
,
arm_6_joint
,
arm_7_joint
,
gripper_finger_joint
,
head_1_joint
,
head_2_joint
]
control_mode
:
wheel_left_joint
:
ros_control_mode
:
VELOCITY
...
...
roscontrol_sot_tiago/launch/controller.launch
View file @
28d7a6a4
<launch>
<arg name="use_mobile_base" doc="Whether SoT should control the mobile base"/>
<arg name="end_effector" doc="one of false, pal-gripper, pal-hey5, schunk-wsg"/>
<arg name="simulation" default="false"/>
<param name="/sot_controller/use_mobile_base" value="$(arg use_mobile_base)"/>
<include file="$(find sot_tiago_bringup)/launch/sot_params.launch">
<arg name="end_effector" value="$(arg end_effector)"/>
<arg name="use_mobile_base" value="$(arg use_mobile_base)"/>
</include>
<!-- Sot Controller configuration -->
<rosparam command="load" file="$(find roscontrol_sot_tiago)/config/sot_params.yaml"/>
<rosparam if="$(arg use_mobile_base)" command="load" file="$(find roscontrol_sot_tiago)/config/sot_params_mobile_base.yaml"/>
...
...
roscontrol_sot_tiago/package.xml
View file @
28d7a6a4
...
...
@@ -53,5 +53,6 @@
<run_depend>
cmake_modules
</run_depend>
<run_depend>
roscontrol_sot
</run_depend>
<run_depend>
controller_interface
</run_depend>
<run_depend>
sot_tiago_bringup
</run_depend>
<!-- The export tag contains other, unspecified, tags -->
</package>
sot_tiago_bringup/launch/geometric_simu_context.launch
View file @
28d7a6a4
...
...
@@ -13,18 +13,16 @@
<param
name=
"robot_description"
command=
"$(find xacro)/xacro.py '$(find tiago_description)/robots/tiago.urdf.xacro' end_effector:=$(arg end_effector)"
/>
<
arg
if=
"$(arg use_mobile_base)"
name=
"mobile_base_joint_names"
value=
"'wheel_left_joint', 'wheel_right_joint', "
/
>
<arg
unless=
"$(arg use_mobile_base)"
name=
"mobile_base_joint_names"
value=
""
/>
<arg
if=
"$(eval arg('end_effector') == 'schunk-wsg')"
name=
"gripper_joint_names"
value=
"'gripper_finger_joint', "
/>
<
arg
if=
"$(eval arg('end_effector') == 'pal-hey5' )"
name=
"gripper_joint_names"
value=
"'hand_index_joint', 'hand_mrl_joint', 'hand_thumb_joint', "
/
>
<
include
file=
"$(find sot_tiago_bringup)/launch/sot_params.launch"
>
<arg
name=
"end_effector"
value=
"$(arg end_effector)"
/>
<arg
name=
"use_mobile_base"
value=
"$(arg use_mobile_base)"
/>
<
/include
>
<!-- Load robot sot params. -->
<group
ns=
"sot"
>
<rosparam
param=
"tf_base_link"
>
base_footprint
</rosparam>
<rosparam
param=
"state_vector_map"
subst_value=
"True"
>
[ $(arg mobile_base_joint_names) "torso_lift_joint", "arm_1_joint", "arm_2_joint", "arm_3_joint", "arm_4_joint", "arm_5_joint", "arm_6_joint", "arm_7_joint", $(arg gripper_joint_names) "head_1_joint", "head_2_joint" ]
</rosparam>
</group>
<group
ns=
"sot_controller"
>
<rosparam
param=
"joint_names"
subst_value=
"True"
>
[ $(arg mobile_base_joint_names) "torso_lift_joint", "arm_1_joint", "arm_2_joint", "arm_3_joint", "arm_4_joint", "arm_5_joint", "arm_6_joint", "arm_7_joint", $(arg gripper_joint_names) "head_1_joint", "head_2_joint" ]
</rosparam>
<rosparam
param=
"dt"
>
0.01
</rosparam>
</group>
...
...
sot_tiago_bringup/launch/sot_params.launch
0 → 100644
View file @
28d7a6a4
<!-- -*-xml-*-
Set parameters /sot/state_vector_map and /sot_controller/joint_names according to the robot model.
-->
<launch>
<arg
name=
"end_effector"
doc=
"one of false, pal-gripper, pal-hey5, schunk-wsg"
/>
<arg
name=
"use_mobile_base"
doc=
"Whether SoT should control the mobile base"
/>
<arg
if=
"$(arg use_mobile_base)"
name=
"mobile_base_joint_names"
value=
"'wheel_left_joint', 'wheel_right_joint', "
/>
<arg
unless=
"$(arg use_mobile_base)"
name=
"mobile_base_joint_names"
value=
""
/>
<arg
if=
"$(eval arg('end_effector') == 'schunk-wsg')"
name=
"gripper_joint_names"
value=
"'gripper_finger_joint', "
/>
<arg
if=
"$(eval arg('end_effector') == 'pal-hey5' )"
name=
"gripper_joint_names"
value=
"'hand_index_joint', 'hand_mrl_joint', 'hand_thumb_joint', "
/>
<!-- Load robot sot params. -->
<group
ns=
"sot"
>
<rosparam
param=
"state_vector_map"
subst_value=
"True"
>
[ $(arg mobile_base_joint_names) "torso_lift_joint", "arm_1_joint", "arm_2_joint", "arm_3_joint", "arm_4_joint", "arm_5_joint", "arm_6_joint", "arm_7_joint", $(arg gripper_joint_names) "head_1_joint", "head_2_joint" ]
</rosparam>
</group>
<group
ns=
"sot_controller"
>
<rosparam
param=
"joint_names"
subst_value=
"True"
>
[ $(arg mobile_base_joint_names) "torso_lift_joint", "arm_1_joint", "arm_2_joint", "arm_3_joint", "arm_4_joint", "arm_5_joint", "arm_6_joint", "arm_7_joint", $(arg gripper_joint_names) "head_1_joint", "head_2_joint" ]
</rosparam>
</group>
</launch>
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