From 7468e1535e7c34bcb09f40ad0213825c5cf7e694 Mon Sep 17 00:00:00 2001 From: Felix Mauch Date: Fri, 14 Jun 2019 15:15:14 +0200 Subject: [PATCH] Updated all controller yamls --- ur_rtde_driver/config/ur10_controllers.yaml | 73 ++-------------- ur_rtde_driver/config/ur10e_controllers.yaml | 81 +++--------------- ur_rtde_driver/config/ur3_controllers.yaml | 81 +++--------------- ur_rtde_driver/config/ur3e_controllers.yaml | 87 ++++---------------- ur_rtde_driver/config/ur5_controllers.yaml | 81 +++--------------- ur_rtde_driver/config/ur5e_controllers.yaml | 87 ++++---------------- 6 files changed, 74 insertions(+), 416 deletions(-) diff --git a/ur_rtde_driver/config/ur10_controllers.yaml b/ur_rtde_driver/config/ur10_controllers.yaml index 8687fc9..42bb62d 100644 --- a/ur_rtde_driver/config/ur10_controllers.yaml +++ b/ur_rtde_driver/config/ur10_controllers.yaml @@ -30,7 +30,6 @@ speed_scaling_state_controller: # Joint Trajectory Controller - position based ------------------------------- # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller pos_based_pos_traj_controller: - #type: position_controllers/JointTrajectoryController type: position_controllers/ScaledJointTrajectoryController joints: - shoulder_pan_joint @@ -42,72 +41,12 @@ pos_based_pos_traj_controller: constraints: goal_time: 0.6 stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.4, goal: 0.1} - wrist_1_joint: {trajectory: 0.4, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} + shoulder_pan_joint: {trajectory: 0.2, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.2, goal: 0.1} + elbow_joint: {trajectory: 0.2, goal: 0.1} + wrist_1_joint: {trajectory: 0.2, goal: 0.1} + wrist_2_joint: {trajectory: 0.2, goal: 0.1} + wrist_3_joint: {trajectory: 0.2, goal: 0.1} stop_trajectory_duration: 0.5 state_publish_rate: 500 action_monitor_rate: 10 - - # state_publish_rate: 50 # Defaults to 50 - # action_monitor_rate: 20 # Defaults to 20 - #stop_trajectory_duration: 0 # Defaults to 0.0 - -# Joint Trajectory Controller ------------------------------- -# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller -vel_based_pos_traj_controller: - type: velocity_controllers/JointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: 125 - action_monitor_rate: 10 - gains: - #!!These values have not been optimized!! - shoulder_pan_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - shoulder_lift_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - elbow_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_1_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_2_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_3_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - - # Use a feedforward term to reduce the size of PID gains - velocity_ff: - shoulder_pan_joint: 1.0 - shoulder_lift_joint: 1.0 - elbow_joint: 1.0 - wrist_1_joint: 1.0 - wrist_2_joint: 1.0 - wrist_3_joint: 1.0 - - # state_publish_rate: 50 # Defaults to 50 - # action_monitor_rate: 20 # Defaults to 20 - #stop_trajectory_duration: 0 # Defaults to 0.0 - -# Pass an array of joint velocities directly to the joints -joint_group_vel_controller: - type: velocity_controllers/JointGroupVelocityController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint diff --git a/ur_rtde_driver/config/ur10e_controllers.yaml b/ur_rtde_driver/config/ur10e_controllers.yaml index 8687fc9..345f4f5 100644 --- a/ur_rtde_driver/config/ur10e_controllers.yaml +++ b/ur_rtde_driver/config/ur10e_controllers.yaml @@ -1,6 +1,6 @@ # Settings for ros_control control loop hardware_control_loop: - loop_hz: 125 + loop_hz: 500 # Settings for ros_control hardware interface hardware_interface: @@ -15,22 +15,21 @@ hardware_interface: # Publish all joint states ---------------------------------- joint_state_controller: type: joint_state_controller/JointStateController - publish_rate: 125 + publish_rate: 500 # Publish wrench ---------------------------------- force_torque_sensor_controller: type: force_torque_sensor_controller/ForceTorqueSensorController - publish_rate: 125 + publish_rate: 500 # Publish speed_scaling factor speed_scaling_state_controller: type: ur_controllers/SpeedScalingStateController - publish_rate: 125 + publish_rate: 500 # Joint Trajectory Controller - position based ------------------------------- # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller pos_based_pos_traj_controller: - #type: position_controllers/JointTrajectoryController type: position_controllers/ScaledJointTrajectoryController joints: - shoulder_pan_joint @@ -42,72 +41,12 @@ pos_based_pos_traj_controller: constraints: goal_time: 0.6 stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.4, goal: 0.1} - wrist_1_joint: {trajectory: 0.4, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} + shoulder_pan_joint: {trajectory: 0.2, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.2, goal: 0.1} + elbow_joint: {trajectory: 0.2, goal: 0.1} + wrist_1_joint: {trajectory: 0.2, goal: 0.1} + wrist_2_joint: {trajectory: 0.2, goal: 0.1} + wrist_3_joint: {trajectory: 0.2, goal: 0.1} stop_trajectory_duration: 0.5 state_publish_rate: 500 action_monitor_rate: 10 - - # state_publish_rate: 50 # Defaults to 50 - # action_monitor_rate: 20 # Defaults to 20 - #stop_trajectory_duration: 0 # Defaults to 0.0 - -# Joint Trajectory Controller ------------------------------- -# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller -vel_based_pos_traj_controller: - type: velocity_controllers/JointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: 125 - action_monitor_rate: 10 - gains: - #!!These values have not been optimized!! - shoulder_pan_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - shoulder_lift_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - elbow_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_1_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_2_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_3_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - - # Use a feedforward term to reduce the size of PID gains - velocity_ff: - shoulder_pan_joint: 1.0 - shoulder_lift_joint: 1.0 - elbow_joint: 1.0 - wrist_1_joint: 1.0 - wrist_2_joint: 1.0 - wrist_3_joint: 1.0 - - # state_publish_rate: 50 # Defaults to 50 - # action_monitor_rate: 20 # Defaults to 20 - #stop_trajectory_duration: 0 # Defaults to 0.0 - -# Pass an array of joint velocities directly to the joints -joint_group_vel_controller: - type: velocity_controllers/JointGroupVelocityController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint diff --git a/ur_rtde_driver/config/ur3_controllers.yaml b/ur_rtde_driver/config/ur3_controllers.yaml index 55d843b..42bb62d 100644 --- a/ur_rtde_driver/config/ur3_controllers.yaml +++ b/ur_rtde_driver/config/ur3_controllers.yaml @@ -22,10 +22,15 @@ force_torque_sensor_controller: type: force_torque_sensor_controller/ForceTorqueSensorController publish_rate: 125 +# Publish speed_scaling factor +speed_scaling_state_controller: + type: ur_controllers/SpeedScalingStateController + publish_rate: 125 + # Joint Trajectory Controller - position based ------------------------------- # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller pos_based_pos_traj_controller: - type: position_controllers/JointTrajectoryController + type: position_controllers/ScaledJointTrajectoryController joints: - shoulder_pan_joint - shoulder_lift_joint @@ -36,72 +41,12 @@ pos_based_pos_traj_controller: constraints: goal_time: 0.6 stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} + shoulder_pan_joint: {trajectory: 0.2, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.2, goal: 0.1} + elbow_joint: {trajectory: 0.2, goal: 0.1} + wrist_1_joint: {trajectory: 0.2, goal: 0.1} + wrist_2_joint: {trajectory: 0.2, goal: 0.1} + wrist_3_joint: {trajectory: 0.2, goal: 0.1} stop_trajectory_duration: 0.5 - state_publish_rate: 125 + state_publish_rate: 500 action_monitor_rate: 10 - - # state_publish_rate: 50 # Defaults to 50 - # action_monitor_rate: 20 # Defaults to 20 - #stop_trajectory_duration: 0 # Defaults to 0.0 - -# Joint Trajectory Controller - velocity based ------------------------------- -# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller -vel_based_pos_traj_controller: - type: velocity_controllers/JointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: 125 - action_monitor_rate: 10 - gains: - #!!These values have not been optimized!! - shoulder_pan_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - shoulder_lift_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - elbow_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_1_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_2_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_3_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - - # Use a feedforward term to reduce the size of PID gains - velocity_ff: - shoulder_pan_joint: 1.0 - shoulder_lift_joint: 1.0 - elbow_joint: 1.0 - wrist_1_joint: 1.0 - wrist_2_joint: 1.0 - wrist_3_joint: 1.0 - - # state_publish_rate: 50 # Defaults to 50 - # action_monitor_rate: 20 # Defaults to 20 - #stop_trajectory_duration: 0 # Defaults to 0.0 - -# Pass an array of joint velocities directly to the joints -joint_group_vel_controller: - type: velocity_controllers/JointGroupVelocityController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint \ No newline at end of file diff --git a/ur_rtde_driver/config/ur3e_controllers.yaml b/ur_rtde_driver/config/ur3e_controllers.yaml index 55d843b..345f4f5 100644 --- a/ur_rtde_driver/config/ur3e_controllers.yaml +++ b/ur_rtde_driver/config/ur3e_controllers.yaml @@ -1,6 +1,6 @@ # Settings for ros_control control loop hardware_control_loop: - loop_hz: 125 + loop_hz: 500 # Settings for ros_control hardware interface hardware_interface: @@ -15,17 +15,22 @@ hardware_interface: # Publish all joint states ---------------------------------- joint_state_controller: type: joint_state_controller/JointStateController - publish_rate: 125 + publish_rate: 500 # Publish wrench ---------------------------------- force_torque_sensor_controller: type: force_torque_sensor_controller/ForceTorqueSensorController - publish_rate: 125 + publish_rate: 500 + +# Publish speed_scaling factor +speed_scaling_state_controller: + type: ur_controllers/SpeedScalingStateController + publish_rate: 500 # Joint Trajectory Controller - position based ------------------------------- # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller pos_based_pos_traj_controller: - type: position_controllers/JointTrajectoryController + type: position_controllers/ScaledJointTrajectoryController joints: - shoulder_pan_joint - shoulder_lift_joint @@ -36,72 +41,12 @@ pos_based_pos_traj_controller: constraints: goal_time: 0.6 stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} + shoulder_pan_joint: {trajectory: 0.2, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.2, goal: 0.1} + elbow_joint: {trajectory: 0.2, goal: 0.1} + wrist_1_joint: {trajectory: 0.2, goal: 0.1} + wrist_2_joint: {trajectory: 0.2, goal: 0.1} + wrist_3_joint: {trajectory: 0.2, goal: 0.1} stop_trajectory_duration: 0.5 - state_publish_rate: 125 + state_publish_rate: 500 action_monitor_rate: 10 - - # state_publish_rate: 50 # Defaults to 50 - # action_monitor_rate: 20 # Defaults to 20 - #stop_trajectory_duration: 0 # Defaults to 0.0 - -# Joint Trajectory Controller - velocity based ------------------------------- -# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller -vel_based_pos_traj_controller: - type: velocity_controllers/JointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: 125 - action_monitor_rate: 10 - gains: - #!!These values have not been optimized!! - shoulder_pan_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - shoulder_lift_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - elbow_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_1_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_2_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_3_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - - # Use a feedforward term to reduce the size of PID gains - velocity_ff: - shoulder_pan_joint: 1.0 - shoulder_lift_joint: 1.0 - elbow_joint: 1.0 - wrist_1_joint: 1.0 - wrist_2_joint: 1.0 - wrist_3_joint: 1.0 - - # state_publish_rate: 50 # Defaults to 50 - # action_monitor_rate: 20 # Defaults to 20 - #stop_trajectory_duration: 0 # Defaults to 0.0 - -# Pass an array of joint velocities directly to the joints -joint_group_vel_controller: - type: velocity_controllers/JointGroupVelocityController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint \ No newline at end of file diff --git a/ur_rtde_driver/config/ur5_controllers.yaml b/ur_rtde_driver/config/ur5_controllers.yaml index 877b9fa..42bb62d 100644 --- a/ur_rtde_driver/config/ur5_controllers.yaml +++ b/ur_rtde_driver/config/ur5_controllers.yaml @@ -22,10 +22,15 @@ force_torque_sensor_controller: type: force_torque_sensor_controller/ForceTorqueSensorController publish_rate: 125 +# Publish speed_scaling factor +speed_scaling_state_controller: + type: ur_controllers/SpeedScalingStateController + publish_rate: 125 + # Joint Trajectory Controller - position based ------------------------------- # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller pos_based_pos_traj_controller: - type: position_controllers/JointTrajectoryController + type: position_controllers/ScaledJointTrajectoryController joints: - shoulder_pan_joint - shoulder_lift_joint @@ -36,72 +41,12 @@ pos_based_pos_traj_controller: constraints: goal_time: 0.6 stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} + shoulder_pan_joint: {trajectory: 0.2, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.2, goal: 0.1} + elbow_joint: {trajectory: 0.2, goal: 0.1} + wrist_1_joint: {trajectory: 0.2, goal: 0.1} + wrist_2_joint: {trajectory: 0.2, goal: 0.1} + wrist_3_joint: {trajectory: 0.2, goal: 0.1} stop_trajectory_duration: 0.5 - state_publish_rate: 125 + state_publish_rate: 500 action_monitor_rate: 10 - - # state_publish_rate: 50 # Defaults to 50 - # action_monitor_rate: 20 # Defaults to 20 - #stop_trajectory_duration: 0 # Defaults to 0.0 - -# Joint Trajectory Controller - velocity based ------------------------------- -# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller -vel_based_pos_traj_controller: - type: velocity_controllers/JointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: 125 - action_monitor_rate: 10 - gains: - #!!These values have not been optimized!! - shoulder_pan_joint: {p: 1.2, i: 0.01, d: 0.1, i_clamp: 1} - shoulder_lift_joint: {p: 1.2, i: 0.01, d: 0.1, i_clamp: 1} - elbow_joint: {p: 1.2, i: 0.01, d: 0.1, i_clamp: 1} - wrist_1_joint: {p: 1.2, i: 0.01, d: 0.1, i_clamp: 1} - wrist_2_joint: {p: 1.2, i: 0.01, d: 0.1, i_clamp: 1} - wrist_3_joint: {p: 1.2, i: 0.01, d: 0.1, i_clamp: 1} - - # Use a feedforward term to reduce the size of PID gains - velocity_ff: - shoulder_pan_joint: 1.0 - shoulder_lift_joint: 1.0 - elbow_joint: 1.0 - wrist_1_joint: 1.0 - wrist_2_joint: 1.0 - wrist_3_joint: 1.0 - - # state_publish_rate: 50 # Defaults to 50 - # action_monitor_rate: 20 # Defaults to 20 - #stop_trajectory_duration: 0 # Defaults to 0.0 - -# Pass an array of joint velocities directly to the joints -joint_group_vel_controller: - type: velocity_controllers/JointGroupVelocityController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint \ No newline at end of file diff --git a/ur_rtde_driver/config/ur5e_controllers.yaml b/ur_rtde_driver/config/ur5e_controllers.yaml index 877b9fa..345f4f5 100644 --- a/ur_rtde_driver/config/ur5e_controllers.yaml +++ b/ur_rtde_driver/config/ur5e_controllers.yaml @@ -1,6 +1,6 @@ # Settings for ros_control control loop hardware_control_loop: - loop_hz: 125 + loop_hz: 500 # Settings for ros_control hardware interface hardware_interface: @@ -15,17 +15,22 @@ hardware_interface: # Publish all joint states ---------------------------------- joint_state_controller: type: joint_state_controller/JointStateController - publish_rate: 125 + publish_rate: 500 # Publish wrench ---------------------------------- force_torque_sensor_controller: type: force_torque_sensor_controller/ForceTorqueSensorController - publish_rate: 125 + publish_rate: 500 + +# Publish speed_scaling factor +speed_scaling_state_controller: + type: ur_controllers/SpeedScalingStateController + publish_rate: 500 # Joint Trajectory Controller - position based ------------------------------- # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller pos_based_pos_traj_controller: - type: position_controllers/JointTrajectoryController + type: position_controllers/ScaledJointTrajectoryController joints: - shoulder_pan_joint - shoulder_lift_joint @@ -36,72 +41,12 @@ pos_based_pos_traj_controller: constraints: goal_time: 0.6 stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} + shoulder_pan_joint: {trajectory: 0.2, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.2, goal: 0.1} + elbow_joint: {trajectory: 0.2, goal: 0.1} + wrist_1_joint: {trajectory: 0.2, goal: 0.1} + wrist_2_joint: {trajectory: 0.2, goal: 0.1} + wrist_3_joint: {trajectory: 0.2, goal: 0.1} stop_trajectory_duration: 0.5 - state_publish_rate: 125 + state_publish_rate: 500 action_monitor_rate: 10 - - # state_publish_rate: 50 # Defaults to 50 - # action_monitor_rate: 20 # Defaults to 20 - #stop_trajectory_duration: 0 # Defaults to 0.0 - -# Joint Trajectory Controller - velocity based ------------------------------- -# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller -vel_based_pos_traj_controller: - type: velocity_controllers/JointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: 125 - action_monitor_rate: 10 - gains: - #!!These values have not been optimized!! - shoulder_pan_joint: {p: 1.2, i: 0.01, d: 0.1, i_clamp: 1} - shoulder_lift_joint: {p: 1.2, i: 0.01, d: 0.1, i_clamp: 1} - elbow_joint: {p: 1.2, i: 0.01, d: 0.1, i_clamp: 1} - wrist_1_joint: {p: 1.2, i: 0.01, d: 0.1, i_clamp: 1} - wrist_2_joint: {p: 1.2, i: 0.01, d: 0.1, i_clamp: 1} - wrist_3_joint: {p: 1.2, i: 0.01, d: 0.1, i_clamp: 1} - - # Use a feedforward term to reduce the size of PID gains - velocity_ff: - shoulder_pan_joint: 1.0 - shoulder_lift_joint: 1.0 - elbow_joint: 1.0 - wrist_1_joint: 1.0 - wrist_2_joint: 1.0 - wrist_3_joint: 1.0 - - # state_publish_rate: 50 # Defaults to 50 - # action_monitor_rate: 20 # Defaults to 20 - #stop_trajectory_duration: 0 # Defaults to 0.0 - -# Pass an array of joint velocities directly to the joints -joint_group_vel_controller: - type: velocity_controllers/JointGroupVelocityController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint \ No newline at end of file