Obbart/universal_robots_ros_driver
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Improved ros_control performance and stability

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Thomas Timm Andersen
2015-10-08 15:37:49 +02:00
parent 22e7d799c2
commit 589dca8e2a
8 changed files with 108 additions and 30 deletions
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18
config/ur5_controllers.yaml
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@@ -24,7 +24,7 @@ force_torque_sensor_controller:
# Joint Trajectory Controller - position based -------------------------------
# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
position_based_position_trajectory_controller:
pos_based_pos_traj_controller:
type: position_controllers/JointTrajectoryController
joints:
- shoulder_pan_joint
@@ -60,7 +60,7 @@ position_based_position_trajectory_controller:
# Joint Trajectory Controller - velocity based -------------------------------
# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
velocity_based_position_trajectory_controller:
vel_based_pos_traj_controller:
type: velocity_controllers/JointTrajectoryController
joints:
- shoulder_pan_joint
@@ -82,13 +82,13 @@ velocity_based_position_trajectory_controller:
state_publish_rate: 125
action_monitor_rate: 10
gains:
#!!These values have not been optimized!!
shoulder_pan_joint: {p: 50.0, i: 0.0, d: 0.1, i_clamp: 1}
shoulder_lift_joint: {p: 50.0, i: 0.0, d: 0.1, i_clamp: 1}
elbow_joint: {p: 50.0, i: 0.0, d: 0.1, i_clamp: 1}
wrist_1_joint: {p: 50.0, i: 0.0, d: 0.1, i_clamp: 1}
wrist_2_joint: {p: 50.0, i: 0.0, d: 0.1, i_clamp: 1}
wrist_3_joint: {p: 50.0, i: 0.0, d: 0.1, i_clamp: 1}
#!!These values are useable, but maybe not optimal
shoulder_pan_joint: {p: 20.0, i: 0.0, d: 0.7, i_clamp: 1}
shoulder_lift_joint: {p: 20.0, i: 0.0, d: 0.7, i_clamp: 1}
elbow_joint: {p: 20.0, i: 0.0, d: 0.7, i_clamp: 1}
wrist_1_joint: {p: 20.0, i: 0.0, d: 0.7, i_clamp: 1}
wrist_2_joint: {p: 20.0, i: 0.0, d: 0.7, i_clamp: 1}
wrist_3_joint: {p: 20.0, i: 0.0, d: 0.7, i_clamp: 1}
# state_publish_rate: 50 # Defaults to 50
# action_monitor_rate: 20 # Defaults to 20