mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 10:00:48 +02:00
Updated all controller yamls
This commit is contained in:
Felix Mauch
@@ -30,7 +30,6 @@ speed_scaling_state_controller:
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# Joint Trajectory Controller - position based -------------------------------
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# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
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pos_based_pos_traj_controller:
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#type: position_controllers/JointTrajectoryController
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type: position_controllers/ScaledJointTrajectoryController
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joints:
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- shoulder_pan_joint
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@@ -42,72 +41,12 @@ pos_based_pos_traj_controller:
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constraints:
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goal_time: 0.6
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stopped_velocity_tolerance: 0.05
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shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
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shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
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elbow_joint: {trajectory: 0.4, goal: 0.1}
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wrist_1_joint: {trajectory: 0.4, goal: 0.1}
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wrist_2_joint: {trajectory: 0.1, goal: 0.1}
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wrist_3_joint: {trajectory: 0.1, goal: 0.1}
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shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
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shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
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elbow_joint: {trajectory: 0.2, goal: 0.1}
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wrist_1_joint: {trajectory: 0.2, goal: 0.1}
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wrist_2_joint: {trajectory: 0.2, goal: 0.1}
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wrist_3_joint: {trajectory: 0.2, goal: 0.1}
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stop_trajectory_duration: 0.5
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state_publish_rate: 500
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action_monitor_rate: 10
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# state_publish_rate: 50 # Defaults to 50
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# action_monitor_rate: 20 # Defaults to 20
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#stop_trajectory_duration: 0 # Defaults to 0.0
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# Joint Trajectory Controller -------------------------------
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# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
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vel_based_pos_traj_controller:
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type: velocity_controllers/JointTrajectoryController
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joints:
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- shoulder_pan_joint
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- shoulder_lift_joint
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- elbow_joint
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- wrist_1_joint
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- wrist_2_joint
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- wrist_3_joint
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constraints:
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goal_time: 0.6
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stopped_velocity_tolerance: 0.05
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shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
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shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
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elbow_joint: {trajectory: 0.1, goal: 0.1}
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wrist_1_joint: {trajectory: 0.1, goal: 0.1}
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wrist_2_joint: {trajectory: 0.1, goal: 0.1}
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wrist_3_joint: {trajectory: 0.1, goal: 0.1}
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stop_trajectory_duration: 0.5
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state_publish_rate: 125
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action_monitor_rate: 10
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gains:
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#!!These values have not been optimized!!
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shoulder_pan_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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shoulder_lift_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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elbow_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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wrist_1_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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wrist_2_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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wrist_3_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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# Use a feedforward term to reduce the size of PID gains
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velocity_ff:
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shoulder_pan_joint: 1.0
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shoulder_lift_joint: 1.0
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elbow_joint: 1.0
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wrist_1_joint: 1.0
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wrist_2_joint: 1.0
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wrist_3_joint: 1.0
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# state_publish_rate: 50 # Defaults to 50
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# action_monitor_rate: 20 # Defaults to 20
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#stop_trajectory_duration: 0 # Defaults to 0.0
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# Pass an array of joint velocities directly to the joints
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joint_group_vel_controller:
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type: velocity_controllers/JointGroupVelocityController
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joints:
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- shoulder_pan_joint
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- shoulder_lift_joint
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- elbow_joint
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- wrist_1_joint
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- wrist_2_joint
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- wrist_3_joint
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@@ -1,6 +1,6 @@
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# Settings for ros_control control loop
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hardware_control_loop:
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loop_hz: 125
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loop_hz: 500
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# Settings for ros_control hardware interface
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hardware_interface:
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@@ -15,22 +15,21 @@ hardware_interface:
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# Publish all joint states ----------------------------------
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joint_state_controller:
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type: joint_state_controller/JointStateController
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publish_rate: 125
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publish_rate: 500
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# Publish wrench ----------------------------------
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force_torque_sensor_controller:
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type: force_torque_sensor_controller/ForceTorqueSensorController
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publish_rate: 125
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publish_rate: 500
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# Publish speed_scaling factor
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speed_scaling_state_controller:
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type: ur_controllers/SpeedScalingStateController
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publish_rate: 125
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publish_rate: 500
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# Joint Trajectory Controller - position based -------------------------------
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# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
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pos_based_pos_traj_controller:
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#type: position_controllers/JointTrajectoryController
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type: position_controllers/ScaledJointTrajectoryController
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joints:
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- shoulder_pan_joint
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@@ -42,72 +41,12 @@ pos_based_pos_traj_controller:
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constraints:
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goal_time: 0.6
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stopped_velocity_tolerance: 0.05
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shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
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shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
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elbow_joint: {trajectory: 0.4, goal: 0.1}
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wrist_1_joint: {trajectory: 0.4, goal: 0.1}
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wrist_2_joint: {trajectory: 0.1, goal: 0.1}
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wrist_3_joint: {trajectory: 0.1, goal: 0.1}
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shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
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shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
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elbow_joint: {trajectory: 0.2, goal: 0.1}
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wrist_1_joint: {trajectory: 0.2, goal: 0.1}
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wrist_2_joint: {trajectory: 0.2, goal: 0.1}
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wrist_3_joint: {trajectory: 0.2, goal: 0.1}
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stop_trajectory_duration: 0.5
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state_publish_rate: 500
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action_monitor_rate: 10
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# state_publish_rate: 50 # Defaults to 50
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# action_monitor_rate: 20 # Defaults to 20
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#stop_trajectory_duration: 0 # Defaults to 0.0
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# Joint Trajectory Controller -------------------------------
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# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
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vel_based_pos_traj_controller:
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type: velocity_controllers/JointTrajectoryController
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joints:
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- shoulder_pan_joint
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- shoulder_lift_joint
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- elbow_joint
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- wrist_1_joint
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- wrist_2_joint
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- wrist_3_joint
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constraints:
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goal_time: 0.6
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stopped_velocity_tolerance: 0.05
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shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
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shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
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elbow_joint: {trajectory: 0.1, goal: 0.1}
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wrist_1_joint: {trajectory: 0.1, goal: 0.1}
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wrist_2_joint: {trajectory: 0.1, goal: 0.1}
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wrist_3_joint: {trajectory: 0.1, goal: 0.1}
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stop_trajectory_duration: 0.5
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state_publish_rate: 125
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action_monitor_rate: 10
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gains:
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#!!These values have not been optimized!!
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shoulder_pan_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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shoulder_lift_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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elbow_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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wrist_1_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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wrist_2_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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wrist_3_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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# Use a feedforward term to reduce the size of PID gains
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velocity_ff:
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shoulder_pan_joint: 1.0
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shoulder_lift_joint: 1.0
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elbow_joint: 1.0
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wrist_1_joint: 1.0
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wrist_2_joint: 1.0
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wrist_3_joint: 1.0
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# state_publish_rate: 50 # Defaults to 50
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# action_monitor_rate: 20 # Defaults to 20
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#stop_trajectory_duration: 0 # Defaults to 0.0
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# Pass an array of joint velocities directly to the joints
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joint_group_vel_controller:
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type: velocity_controllers/JointGroupVelocityController
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joints:
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- shoulder_pan_joint
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- shoulder_lift_joint
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- elbow_joint
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- wrist_1_joint
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- wrist_2_joint
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- wrist_3_joint
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@@ -22,10 +22,15 @@ force_torque_sensor_controller:
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type: force_torque_sensor_controller/ForceTorqueSensorController
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publish_rate: 125
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# Publish speed_scaling factor
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speed_scaling_state_controller:
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type: ur_controllers/SpeedScalingStateController
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publish_rate: 125
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# Joint Trajectory Controller - position based -------------------------------
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# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
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pos_based_pos_traj_controller:
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type: position_controllers/JointTrajectoryController
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type: position_controllers/ScaledJointTrajectoryController
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joints:
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- shoulder_pan_joint
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- shoulder_lift_joint
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@@ -36,72 +41,12 @@ pos_based_pos_traj_controller:
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constraints:
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goal_time: 0.6
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stopped_velocity_tolerance: 0.05
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shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
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shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
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elbow_joint: {trajectory: 0.1, goal: 0.1}
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wrist_1_joint: {trajectory: 0.1, goal: 0.1}
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wrist_2_joint: {trajectory: 0.1, goal: 0.1}
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wrist_3_joint: {trajectory: 0.1, goal: 0.1}
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shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
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shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
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elbow_joint: {trajectory: 0.2, goal: 0.1}
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wrist_1_joint: {trajectory: 0.2, goal: 0.1}
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wrist_2_joint: {trajectory: 0.2, goal: 0.1}
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wrist_3_joint: {trajectory: 0.2, goal: 0.1}
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stop_trajectory_duration: 0.5
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state_publish_rate: 125
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state_publish_rate: 500
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action_monitor_rate: 10
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# state_publish_rate: 50 # Defaults to 50
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# action_monitor_rate: 20 # Defaults to 20
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#stop_trajectory_duration: 0 # Defaults to 0.0
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# Joint Trajectory Controller - velocity based -------------------------------
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# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
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vel_based_pos_traj_controller:
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type: velocity_controllers/JointTrajectoryController
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joints:
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- shoulder_pan_joint
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- shoulder_lift_joint
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- elbow_joint
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- wrist_1_joint
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- wrist_2_joint
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- wrist_3_joint
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constraints:
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goal_time: 0.6
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stopped_velocity_tolerance: 0.05
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shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
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shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
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elbow_joint: {trajectory: 0.1, goal: 0.1}
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wrist_1_joint: {trajectory: 0.1, goal: 0.1}
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wrist_2_joint: {trajectory: 0.1, goal: 0.1}
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wrist_3_joint: {trajectory: 0.1, goal: 0.1}
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stop_trajectory_duration: 0.5
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state_publish_rate: 125
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action_monitor_rate: 10
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gains:
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#!!These values have not been optimized!!
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shoulder_pan_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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shoulder_lift_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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elbow_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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wrist_1_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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wrist_2_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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wrist_3_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
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# Use a feedforward term to reduce the size of PID gains
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velocity_ff:
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shoulder_pan_joint: 1.0
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shoulder_lift_joint: 1.0
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elbow_joint: 1.0
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wrist_1_joint: 1.0
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wrist_2_joint: 1.0
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wrist_3_joint: 1.0
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# state_publish_rate: 50 # Defaults to 50
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# action_monitor_rate: 20 # Defaults to 20
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#stop_trajectory_duration: 0 # Defaults to 0.0
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# Pass an array of joint velocities directly to the joints
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joint_group_vel_controller:
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type: velocity_controllers/JointGroupVelocityController
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joints:
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- shoulder_pan_joint
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- shoulder_lift_joint
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- elbow_joint
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- wrist_1_joint
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- wrist_2_joint
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- wrist_3_joint
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@@ -1,6 +1,6 @@
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# Settings for ros_control control loop
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hardware_control_loop:
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loop_hz: 125
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loop_hz: 500
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# Settings for ros_control hardware interface
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hardware_interface:
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@@ -15,17 +15,22 @@ hardware_interface:
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# Publish all joint states ----------------------------------
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joint_state_controller:
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type: joint_state_controller/JointStateController
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publish_rate: 125
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publish_rate: 500
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# Publish wrench ----------------------------------
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force_torque_sensor_controller:
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type: force_torque_sensor_controller/ForceTorqueSensorController
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publish_rate: 125
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publish_rate: 500
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# Publish speed_scaling factor
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speed_scaling_state_controller:
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type: ur_controllers/SpeedScalingStateController
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publish_rate: 500
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# Joint Trajectory Controller - position based -------------------------------
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# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
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pos_based_pos_traj_controller:
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type: position_controllers/JointTrajectoryController
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type: position_controllers/ScaledJointTrajectoryController
|
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joints:
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- shoulder_pan_joint
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- shoulder_lift_joint
|
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@@ -36,72 +41,12 @@ pos_based_pos_traj_controller:
|
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constraints:
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||||
goal_time: 0.6
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||||
stopped_velocity_tolerance: 0.05
|
||||
shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
|
||||
shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
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elbow_joint: {trajectory: 0.1, goal: 0.1}
|
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wrist_1_joint: {trajectory: 0.1, goal: 0.1}
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wrist_2_joint: {trajectory: 0.1, goal: 0.1}
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wrist_3_joint: {trajectory: 0.1, goal: 0.1}
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shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
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shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
|
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elbow_joint: {trajectory: 0.2, goal: 0.1}
|
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wrist_1_joint: {trajectory: 0.2, goal: 0.1}
|
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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
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||||
#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
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||||
vel_based_pos_traj_controller:
|
||||
type: velocity_controllers/JointTrajectoryController
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||||
joints:
|
||||
- shoulder_pan_joint
|
||||
- shoulder_lift_joint
|
||||
- elbow_joint
|
||||
- wrist_1_joint
|
||||
- wrist_2_joint
|
||||
- wrist_3_joint
|
||||
constraints:
|
||||
goal_time: 0.6
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||||
stopped_velocity_tolerance: 0.05
|
||||
shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
|
||||
shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
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||||
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:
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||||
#!!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
|
||||
@@ -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
|
||||
@@ -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
|
||||
Reference in New Issue
Block a user