Obbart/universal_robots_ros_driver
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Updated all controller yamls

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This commit is contained in:
Felix Mauch
2019-06-14 15:15:14 +02:00
parent ec3b8c133e
commit 7468e1535e
6 changed files with 74 additions and 416 deletions
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73
ur_rtde_driver/config/ur10_controllers.yaml
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@@ -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