Implemented ros-control

config/ur10_controllers.yaml

@@ -0,0 +1,55 @@
+# Settings for ros_control control loop
+hardware_control_loop:
+   loop_hz: 125
+
+# Settings for ros_control hardware interface
+hardware_interface:
+   joints:
+     - shoulder_pan_joint
+     - shoulder_lift_joint
+     - elbow_joint
+     - wrist_1_joint
+     - wrist_2_joint
+     - wrist_3_joint
+
+# Publish all joint states ----------------------------------
+joint_state_controller:
+   type:         joint_state_controller/JointStateController
+   publish_rate: 125
+
+# Publish wrench ----------------------------------
+force_torque_sensor_controller:
+   type:         force_torque_sensor_controller/ForceTorqueSensorController
+   publish_rate: 125
+
+# Joint Trajectory Controller -------------------------------
+# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
+position_trajectory_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:
+   #     joint1: {p: 2.0,  i: 0.0, d: 0.01, i_clamp: 1}
+   #     joint2: {p: 2.0,  i: 0.0, d: 0.01, i_clamp: 1}
+
+    # state_publish_rate:  50 # Defaults to 50
+    # action_monitor_rate: 20 # Defaults to 20
+    #hold_trajectory_duration: 0 # Defaults to 0.5
+