From 806548dd80762bef4ee80e402bc0e2be5b0a2cc2 Mon Sep 17 00:00:00 2001
From: Thomas Timm Andersen <thomas.timm.dk@gmail.com>
Date: Tue, 20 Oct 2015 14:23:15 +0200
Subject: [PATCH] Tuned PID values to work with a real robot

---
 config/ur10_controllers.yaml   | 12 ++++++------
 config/ur5_controllers.yaml    | 12 ++++++------
 launch/ur10_ros_control.launch |  2 +-
 3 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/config/ur10_controllers.yaml b/config/ur10_controllers.yaml
index 8c0c5bc..19e0394 100644
--- a/config/ur10_controllers.yaml
+++ b/config/ur10_controllers.yaml
@@ -83,12 +83,12 @@ vel_based_pos_traj_controller:
    action_monitor_rate: 10
    gains:
        #!!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}
+      shoulder_pan_joint: {p: 20.0,  i: 0.0, d: 0.1, i_clamp: 1}
+      shoulder_lift_joint: {p: 20.0,  i: 0.0, d: 0.1, i_clamp: 1}
+      elbow_joint: {p: 20.0,  i: 0.0, d: 0.1, i_clamp: 1}
+      wrist_1_joint: {p: 20.0,  i: 0.0, d: 0.1, i_clamp: 1}
+      wrist_2_joint: {p: 20.0,  i: 0.0, d: 0.1, i_clamp: 1}
+      wrist_3_joint: {p: 20.0,  i: 0.0, d: 0.1, i_clamp: 1}
 
 
    # state_publish_rate:  50 # Defaults to 50
diff --git a/config/ur5_controllers.yaml b/config/ur5_controllers.yaml
index a1054b7..4eab52e 100644
--- a/config/ur5_controllers.yaml
+++ b/config/ur5_controllers.yaml
@@ -83,12 +83,12 @@ vel_based_pos_traj_controller:
    action_monitor_rate: 10
    gains:
       #!!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}
+      shoulder_pan_joint: {p: 20.0,  i: 0.0, d: 0.1, i_clamp: 1}
+      shoulder_lift_joint: {p: 20.0,  i: 0.0, d: 0.1, i_clamp: 1}
+      elbow_joint: {p: 20.0,  i: 0.0, d: 0.1, i_clamp: 1}
+      wrist_1_joint: {p: 20.0,  i: 0.0, d: 0.1, i_clamp: 1}
+      wrist_2_joint: {p: 20.0,  i: 0.0, d: 0.1, i_clamp: 1}
+      wrist_3_joint: {p: 20.0,  i: 0.0, d: 0.1, i_clamp: 1}
 
    # state_publish_rate:  50 # Defaults to 50
    # action_monitor_rate: 20 # Defaults to 20
diff --git a/launch/ur10_ros_control.launch b/launch/ur10_ros_control.launch
index d60d02f..ce6c1e1 100644
--- a/launch/ur10_ros_control.launch
+++ b/launch/ur10_ros_control.launch
@@ -25,7 +25,7 @@
   </node>
 
   <!-- Load controller settings -->
-  <rosparam file="$(find ur_modern_driver)/config/ur5_controllers.yaml" command="load"/>
+  <rosparam file="$(find ur_modern_driver)/config/ur10_controllers.yaml" command="load"/>
 
   <!-- spawn controller manager -->
   <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"