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tiago_metapkg_ros_control_sot
Commits
2fde7d70
Commit
2fde7d70
authored
Apr 30, 2019
by
Olivier Stasse
Browse files
Force libsot-tiago-steel-controller.so name
Fix joint names of the robot.
parent
99b38851
Changes
4
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roscontrol_sot_tiago/config/sot_tiago_params.yaml
View file @
2fde7d70
sot_controller
:
libname
:
libsot-tiago-controller.so
joint_names
:
[
torso_joint
,
arm_1_joint
,
arm_2_joint
,
arm_3_joint
,
arm_4_joint
,
arm_5_joint
,
arm_6_joint
,
arm_7_joint
,
gripper_joint
,
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_left_finger_joint
,
gripper_right_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
,
...
...
roscontrol_sot_tiago/config/sot_tiago_params_effort.yaml
View file @
2fde7d70
sot_controller
:
libname
:
libsot-tiago-controller.so
joint_names
:
[
torso_joint
,
arm_1_joint
,
arm_2_joint
,
arm_3_joint
,
arm_4_joint
,
arm_5_joint
,
arm_6_joint
,
arm_7_joint
,
gripper_joint
,
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_left_finger_joint
,
gripper_right_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
,
...
...
roscontrol_sot_tiago/config/sot_tiago_params_gazebo.yaml
View file @
2fde7d70
sot_controller
:
libname
:
libsot-tiago-controller.so
libname
:
libsot-tiago-
steel-
controller.so
simulation_mode
:
gazebo
joint_names
:
[
torso_joint
,
arm_1_joint
,
arm_2_joint
,
arm_3_joint
,
arm_4_joint
,
arm_5_joint
,
arm_6_joint
,
arm_7_joint
,
gripper_joint
,
head_1_joint
,
head_2_joint
]
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_
left_finger_
joint
,
gripper_right_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
,
cmd-joints
:
control
,
cmd-effort
:
control
,
accelerometer_0
:
accelerometer_0
,
gyrometer_0
:
gyrometer_0
}
...
...
@@ -24,9 +24,9 @@ sot_controller:
des_pos
:
0.0
-
name
:
arm_7_joint
des_pos
:
0.1
-
name
:
gripper_joint
-
name
:
gripper_
left_finger_
joint
des_pos
:
-0.005
-
name
:
gripper_joint
-
name
:
gripper_
right_finger_
joint
des_pos
:
-0.005
-
name
:
head_1_joint
des_pos
:
0.0
...
...
roscontrol_sot_tiago/config/sot_tiago_params_gazebo_effort.yaml
View file @
2fde7d70
sot_controller
:
libname
:
libsot-tiago-controller.so
libname
:
libsot-tiago-
steel-
controller.so
simulation_mode
:
gazebo
joint_names
:
[
torso_1_joint
,
torso_2_joint
,
arm_1_joint
,
arm_2_joint
,
arm_3_joint
,
arm_4_joint
,
arm_5_joint
,
arm_6_joint
,
arm_7_joint
,
gripper_joint
,
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_left_finger_joint
,
gripper_right_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
,
...
...
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