Obbart/universal_robots_ros_driver
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Adding JointGroupVelocityControllers (#224)

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* Adding JointGroupVelocityControllers.

* Correction re. ros_control in Readme. Add velocity_controllers dependency.
This commit is contained in:
AndyZe
2018-11-01 11:12:29 -05:00
committed by G.A. vd. Hoorn
parent 0a5ed0fbda
commit fb9dba2f10
8 changed files with 37 additions and 5 deletions
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2
README.md
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@@ -122,7 +122,7 @@ The position based controller *should* stay closer to the commanded path, while
**Note** that the PID values are not optimally tweaked as of this moment.
To use ros_control together with MoveIt, be sure to add the desired controller to the ```controllers.yaml``` in the urXX_moveit_config/config folder. Add the following
To use ros_control together with MoveIt, be sure to add the desired controller to the ```controllers.yaml``` in the urXX_moveit_config/config folder. Add the following:
```yaml
controller_list:

10
config/ur10_controllers.yaml
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@@ -87,3 +87,13 @@ vel_based_pos_traj_controller:
# action_monitor_rate: 20 # Defaults to 20
#hold_trajectory_duration: 0 # Defaults to 0.5
# 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

11
config/ur3_controllers.yaml
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@@ -94,3 +94,14 @@ vel_based_pos_traj_controller:
# state_publish_rate: 50 # Defaults to 50
# action_monitor_rate: 20 # Defaults to 20
#hold_trajectory_duration: 0 # Defaults to 0.5
# 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

10
config/ur5_controllers.yaml
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@@ -86,3 +86,13 @@ vel_based_pos_traj_controller:
# action_monitor_rate: 20 # Defaults to 20
#hold_trajectory_duration: 0 # Defaults to 0.5
# 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

2
launch/ur10_ros_control.launch
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@@ -44,7 +44,7 @@
<!-- load other controller -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="load pos_based_pos_traj_controller" />
output="screen" args="load pos_based_pos_traj_controller joint_group_vel_controller" />
<!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>

4
launch/ur3_ros_control.launch
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@@ -44,9 +44,9 @@
<!-- load other controller -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="load pos_based_pos_traj_controller" />
output="screen" args="load pos_based_pos_traj_controller joint_group_vel_controller" />
<!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
</launch>
</launch>

2
launch/ur5_ros_control.launch
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@@ -44,7 +44,7 @@
<!-- load other controller -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="load pos_based_pos_traj_controller" />
output="screen" args="load pos_based_pos_traj_controller joint_group_vel_controller" />
<!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>

1
package.xml
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@@ -34,6 +34,7 @@
<exec_depend>joint_trajectory_controller</exec_depend>
<exec_depend>ur_description</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>velocity_controllers</exec_depend>
<test_depend>rosunit</test_depend>
</package>