mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-09 17:40:47 +02:00
added speed controllers to all robots and added ur10e_speed launchfile
This commit is contained in:
Felix Mauch
@@ -72,3 +72,58 @@ pos_traj_controller:
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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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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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@@ -72,3 +72,59 @@ pos_traj_controller:
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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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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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@@ -72,3 +72,58 @@ pos_traj_controller:
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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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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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@@ -72,3 +72,58 @@ pos_traj_controller:
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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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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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@@ -72,3 +72,58 @@ pos_traj_controller:
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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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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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46
ur_rtde_driver/launch/ur10e_speed_bringup.launch
Normal file
46
ur_rtde_driver/launch/ur10e_speed_bringup.launch
Normal file
@@ -0,0 +1,46 @@
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<?xml version="1.0"?>
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<launch>
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<!-- GDB functionality -->
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<arg name="debug" default="false" />
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<arg name="use_tool_communication" default="false"/>
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<arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur10e_controllers.yaml"/>
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<arg name="robot_description_file" default="$(find ur_e_description)/launch/ur10e_upload.launch"/>
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<arg name="kinematics_config" default="$(find ur_e_description)/config/ur10e_default.yaml"/>
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<arg name="robot_ip"/>
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<arg name="limited" default="false"/>
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<arg name="tf_prefix" default="" />
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<arg name="controllers" default="joint_state_controller joint_group_vel_controller force_torque_sensor_controller"/>
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<arg name="stopped_controllers" default="vel_based_pos_traj_controller"/>
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<arg name="tool_voltage" default="0"/>
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<arg name="tool_parity" default="0"/>
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<arg name="tool_baud_rate" default="115200"/>
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<arg name="tool_stop_bits" default="1"/>
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<arg name="tool_rx_idle_chars" default="1.5"/>
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<arg name="tool_tx_idle_chars" default="3.5"/>
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<arg name="tool_device_name" default="/tmp/ttyUR"/>
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<arg name="tool_tcp_port" default="54321"/>
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<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
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<arg name="debug" value="$(arg debug)"/>
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<arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
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<arg name="controller_config_file" value="$(arg controller_config_file)"/>
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<arg name="robot_description_file" value="$(arg robot_description_file)"/>
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<arg name="kinematics_config" value="$(arg kinematics_config)"/>
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<arg name="robot_ip" value="$(arg robot_ip)"/>
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<arg name="limited" value="$(arg limited)"/>
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<arg name="tf_prefix" value="$(arg tf_prefix)"/>
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<arg name="controllers" value="$(arg controllers)"/>
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<arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
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<arg name="tool_voltage" value="$(arg tool_voltage)"/>
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<arg name="tool_parity" value="$(arg tool_parity)"/>
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<arg name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
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<arg name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
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<arg name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
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<arg name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
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<arg name="tool_device_name" value="$(arg tool_device_name)"/>
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<arg name="tool_tcp_port" value="$(arg tool_tcp_port)"/>
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</include>
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</launch>
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