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tiago_metapkg_ros_control_sot
Commits
c22d9fcc
Commit
c22d9fcc
authored
Jun 04, 2019
by
Joseph Mirabel
Committed by
olivier stasse
Jun 20, 2019
Browse files
Update to changes in roscontrol_sot and dynamic_graph_bridge.
parent
2698d6a3
Changes
4
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roscontrol_sot_tiago/config/pids_velocity.yaml
0 → 100644
View file @
c22d9fcc
gains
:
wheel_left_joint
:
{
p
:
1
,
d
:
0.0
,
i
:
0
,
i_clamp
:
1.5
}
wheel_right_joint
:
{
p
:
1
,
d
:
0.0
,
i
:
0
,
i_clamp
:
1.5
}
roscontrol_sot_tiago/config/sot_tiago_params_gazebo.yaml
View file @
c22d9fcc
sot_controller
:
libname
:
libsot-tiago-steel-controller.so
simulation_mode
:
gazebo
joint_names
:
[
torso_lift_joint
,
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
,
cmd-joints
:
control
,
cmd-effort
:
control
,
accelerometer_0
:
accelerometer_0
,
gyrometer_0
:
gyrometer_0
}
position_control_init_pos
:
-
name
:
torso_lift_joint
des_pos
:
0.0
-
name
:
arm_1_joint
des_pos
:
0.25847
-
name
:
arm_2_joint
des_pos
:
0.173046
-
name
:
arm_3_joint
des_pos
:
0.0002
-
name
:
arm_4_joint
des_pos
:
-0.525366
-
name
:
arm_5_joint
des_pos
:
0.0
-
name
:
arm_6_joint
des_pos
:
0.0
-
name
:
arm_7_joint
des_pos
:
0.1
-
name
:
gripper_finger_joint
des_pos
:
0.034
-
name
:
head_1_joint
des_pos
:
0.0
-
name
:
head_2_joint
des_pos
:
0.0
control_mode
:
POSITION
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
:
0.001
jitter
:
0.0004
roscontrol_sot_tiago/launch/sot_tiago_controller_gazebo.launch
View file @
c22d9fcc
...
...
@@ -2,6 +2,7 @@
<!-- Sot Controller configuration -->
<rosparam command="load" file="$(find roscontrol_sot_tiago)/config/sot_tiago_params_gazebo.yaml"/>
<rosparam command="load" ns="/sot_controller/velocity_control_pd_motor_init" file="$(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/sot/tiago.yaml
View file @
c22d9fcc
sot
:
state_vector_map
:
[
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
]
sot_controller
:
joint_names
:
[
torso_lift_joint
,
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
]
...
...
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