From e54535bcd3091abd856f8d42b79a827c417b3bd8 Mon Sep 17 00:00:00 2001 From: Tristan Schnell Date: Wed, 12 Jun 2019 17:00:04 +0200 Subject: [PATCH] added basic controller configs for ur3e and ur5e --- ur_rtde_driver/config/ur3e_controllers.yaml | 107 ++++++++++++++++++++ ur_rtde_driver/config/ur5e_controllers.yaml | 107 ++++++++++++++++++++ 2 files changed, 214 insertions(+) create mode 100644 ur_rtde_driver/config/ur3e_controllers.yaml create mode 100644 ur_rtde_driver/config/ur5e_controllers.yaml diff --git a/ur_rtde_driver/config/ur3e_controllers.yaml b/ur_rtde_driver/config/ur3e_controllers.yaml new file mode 100644 index 0000000..55d843b --- /dev/null +++ b/ur_rtde_driver/config/ur3e_controllers.yaml @@ -0,0 +1,107 @@ +# 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 - position based ------------------------------- +# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller +pos_based_pos_traj_controller: + type: position_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 + + # 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: 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 \ No newline at end of file diff --git a/ur_rtde_driver/config/ur5e_controllers.yaml b/ur_rtde_driver/config/ur5e_controllers.yaml new file mode 100644 index 0000000..877b9fa --- /dev/null +++ b/ur_rtde_driver/config/ur5e_controllers.yaml @@ -0,0 +1,107 @@ +# 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 - position based ------------------------------- +# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller +pos_based_pos_traj_controller: + type: position_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 + + # 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 \ No newline at end of file