Commit 33cfb63a authored by Guilhem Saurel's avatar Guilhem Saurel

Merge remote-tracking branch 'main/master' into release/1.0.4

parents fc441f2d 6d6aa267
sot_controller:
libname: libsot-tiago-steel-controller.so
simulation_mode: gazebo
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,
......
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
wheel_right_joint:
ros_control_mode: VELOCITY
sot_controller:
libname: libsot-tiago-steel-without-wheels-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,
control: control
}
control_mode:
torso_lift_joint:
ros_control_mode: POSITION
arm_1_joint:
ros_control_mode: POSITION
arm_2_joint:
ros_control_mode: POSITION
arm_3_joint:
ros_control_mode: POSITION
arm_4_joint:
ros_control_mode: POSITION
arm_5_joint:
ros_control_mode: POSITION
arm_6_joint:
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
dt: 0.01
jitter: 0.004
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, cmd-joints: control, cmd-effort: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
control_mode: EFFORT
dt: 0.01
jitter: 0.004
sot_controller:
libname: libsot-tiago-steel-controller.so
simulation_mode: gazebo
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, cmd-joints: control, cmd-effort: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
control_mode: EFFORT
dt: 0.01
sot_controller:
libname: libsot-tiago-steel-without-wheels-controller.so
simulation_mode: gazebo
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 ]
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,
control: control
}
control_mode:
wheel_left_joint:
ros_control_mode: VELOCITY
wheel_right_joint:
ros_control_mode: VELOCITY
torso_lift_joint:
ros_control_mode: POSITION
arm_1_joint:
ros_control_mode: POSITION
arm_2_joint:
ros_control_mode: POSITION
arm_3_joint:
ros_control_mode: POSITION
arm_4_joint:
ros_control_mode: POSITION
arm_5_joint:
ros_control_mode: POSITION
arm_6_joint:
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
dt: 0.01
jitter: 0.004
sot_controller:
libname: libsot-tiago-steel-controller.so
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 ]
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,
control: control
}
control_mode:
wheel_left_joint:
ros_control_mode: VELOCITY
wheel_right_joint:
ros_control_mode: VELOCITY
torso_lift_joint:
ros_control_mode: POSITION
arm_1_joint:
ros_control_mode: POSITION
arm_2_joint:
ros_control_mode: POSITION
arm_3_joint:
ros_control_mode: POSITION
arm_4_joint:
ros_control_mode: POSITION
arm_5_joint:
ros_control_mode: POSITION
arm_6_joint:
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
dt: 0.01
jitter: 0.004
<launch>
<arg name="use_mobile_base" doc="Whether SoT should control the mobile base"/>
<arg name="simulation" default="false"/>
<param if="$(arg simulation)" name="/sot_controller/use_mobile_base" value="$(arg use_mobile_base)"/>
<!-- Sot Controller configuration -->
<rosparam command="load" file="$(find roscontrol_sot_tiago)/config/sot_tiago_params_effort.yaml"/>
<rosparam command="load" ns="/sot_controller/effort_control_pd_motor_init" file="$(find roscontrol_sot_tiago)/config/pids_effort.yaml"/>
<rosparam command="load" file="$(find roscontrol_sot_tiago)/config/sot_tiago_controller.yaml" />
<rosparam command="load" file="$(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"/>
<rosparam if="$(arg use_mobile_base)" command="load" ns="/sot_controller/velocity_control_pd_motor_init" file="$(find roscontrol_sot_tiago)/config/pids_velocity.yaml"/>
<rosparam command="load" file="$(find roscontrol_sot_tiago)/config/controller.yaml" />
<!-- Spawn walking controller -->
<node name="sot_controller_spawner"
......
<launch>
<arg name="use_mobile_base" default="true"/>
<!-- Sot Controller configuration -->
<rosparam if="$(arg use_mobile_base)" command="load" file="$(find roscontrol_sot_tiago)/config/sot_tiago_params_with_mobile_base.yaml"/>
<rosparam unless="$(arg use_mobile_base)" command="load" file="$(find roscontrol_sot_tiago)/config/sot_tiago_params.yaml"/>
<rosparam if="$(arg use_mobile_base)" command="load" ns="/sot_controller/velocity_control_pd_motor_init" file="$(find roscontrol_sot_tiago)/config/pids_velocity.yaml"/>
<rosparam command="load" file="$(find roscontrol_sot_tiago)/config/sot_tiago_controller.yaml" />
<!-- Spawn walking controller -->
<node name="sot_controller_spawner"
pkg="controller_manager" type="spawner" output="screen"
args="sot_controller" />
</launch>
<launch>
<arg name="use_mobile_base" default="true"/>
<!-- Sot Controller configuration -->
<rosparam if="$(arg use_mobile_base)" command="load" file="$(find roscontrol_sot_tiago)/config/sot_tiago_params_gazebo_with_mobile_base.yaml"/>
<rosparam unless="$(arg use_mobile_base)" command="load" file="$(find roscontrol_sot_tiago)/config/sot_tiago_params_gazebo.yaml"/>
<rosparam if="$(arg use_mobile_base)" command="load" ns="/sot_controller/velocity_control_pd_motor_init" file="$(find roscontrol_sot_tiago)/config/pids_velocity.yaml"/>
<rosparam command="load" file="$(find roscontrol_sot_tiago)/config/sot_tiago_controller.yaml" />
<!-- Spawn walking controller -->
<node name="sot_controller_spawner"
pkg="controller_manager" type="spawner" output="screen"
args="sot_controller" />
</launch>
<launch>
<!-- Sot Controller configuration -->
<rosparam command="load" file="$(find roscontrol_sot_tiago)/config/sot_tiago_params_gazebo_effort.yaml"/>
<rosparam command="load" ns="/sot_controller/effort_control_pd_motor_init" file="$(find tiago_hardware_gazebo)/config/pids.yaml"/>
<rosparam command="load" file="$(find roscontrol_sot_tiago)/config/sot_tiago_controller.yaml" />
<!-- Spawn sot controller -->
<node name="sot_controller_spawner"
pkg="controller_manager" type="spawner" output="screen"
args="sot_controller" />
</launch>
......@@ -3,21 +3,22 @@
-->
<launch>
<!-- Which robot are we controlling ? -->
<arg name="use_mobile_base" doc="Whether SoT should control the mobile base"/>
<arg name="robot" default="tiago" />
<arg name="libsot" default="libsot-tiago-steel-controller.so" />
<arg name="sot-launch-prefix" default="" />
<include file="$(find sot_tiago_bringup)/launch/geometric_simu_context.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="libsot" value="$(arg libsot)" />
</include>
<param name="/sot_controller/use_mobile_base" value="$(arg use_mobile_base)"/>
<!-- Load Stack of Tasks. -->
<node machine="geometric_simu_machine"
name="node_stack_of_tasks"
pkg="dynamic_graph_bridge"
type="geometric_simu"
pkg="dynamic_graph_bridge"
type="geometric_simu"
args=" --input-file $(arg libsot)"
launch-prefix="$(arg sot-launch-prefix)"
respawn="true">
......
......@@ -2,10 +2,6 @@
Handle ROS simulation of the SoT.
-->
<launch>
<!-- Which robot are we controlling ? -->
<arg name="robot" default="tiago" />
<arg name="libsot" default="libsot-tiago-steel-controller.so" />
<!-- BTW we are in simulation ? -->
<!-- Load robot model. -->
......
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