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Stack Of Tasks
tiago_metapkg_ros_control_sot
Commits
403375f0
Commit
403375f0
authored
Jan 29, 2020
by
Joseph Mirabel
Committed by
olivier stasse
Feb 03, 2020
Browse files
Fix usage of use_mobile_base.
parent
904c7d75
Changes
7
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roscontrol_sot_tiago/config/sot_tiago_params.yaml
View file @
403375f0
sot_controller
:
libname
:
libsot-tiago-steel-
without-wheels-
controller.so
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
,
...
...
roscontrol_sot_tiago/config/sot_tiago_params_gazebo_with_mobile_base.yaml
deleted
100644 → 0
View file @
904c7d75
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
roscontrol_sot_tiago/config/sot_tiago_params_with_mobile_base.yaml
View file @
403375f0
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
roscontrol_sot_tiago/launch/sot_tiago_controller.launch
View file @
403375f0
<launch>
<arg name="use_mobile_base" default="true"/>
<arg name="use_mobile_base" doc="Whether SoT should control the mobile base"/>
<param name="/sot_controller/use_mobile_base" value="$(arg use_mobile_base)"/>
<!-- Sot Controller configuration -->
<rosparam
if="$(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_params.yaml"/>
<rosparam
if
="$(arg use_mobile_base)" command="load" file="$(find roscontrol_sot_tiago)/config/sot_tiago_params
_with_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="$(find roscontrol_sot_tiago)/config/sot_tiago_controller.yaml" />
<!-- Spawn walking controller -->
...
...
roscontrol_sot_tiago/launch/sot_tiago_controller_gazebo.launch
View file @
403375f0
<launch>
<arg name="use_mobile_base" default="true"/>
<arg name="use_mobile_base" doc="Whether SoT should control the mobile base"/>
<param name="/sot_controller/use_mobile_base" value="$(arg use_mobile_base)"/>
<!-- 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="$(find roscontrol_sot_tiago)/config/sot_tiago_params_gazebo.yaml"/>
<rosparam
if
="$(arg use_mobile_base)" command="load" file="$(find roscontrol_sot_tiago)/config/sot_tiago_params_
with_mobile_base
.yaml"/>
<rosparam if="$(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/sot_tiago_controller.yaml" />
<!-- Spawn walking controller -->
...
...
sot_tiago_bringup/launch/geometric_simu.launch
View file @
403375f0
...
...
@@ -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"
>
...
...
sot_tiago_bringup/launch/geometric_simu_context.launch
View file @
403375f0
...
...
@@ -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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