mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 01:50:46 +02:00
107 lines
3.6 KiB
YAML
107 lines
3.6 KiB
YAML
# Settings for ros_control control loop
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hardware_control_loop:
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loop_hz: 125
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# Settings for ros_control hardware interface
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hardware_interface:
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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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# Publish all joint states ----------------------------------
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joint_state_controller:
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type: joint_state_controller/JointStateController
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publish_rate: 125
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# Publish wrench ----------------------------------
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force_torque_sensor_controller:
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type: force_torque_sensor_controller/ForceTorqueSensorController
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publish_rate: 125
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# Joint Trajectory Controller - position based -------------------------------
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# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
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pos_based_pos_traj_controller:
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type: position_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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# 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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# Joint Trajectory Controller - velocity based -------------------------------
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# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
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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: 1.2, i: 0.01, d: 0.1, i_clamp: 1}
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shoulder_lift_joint: {p: 1.2, i: 0.01, d: 0.1, i_clamp: 1}
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elbow_joint: {p: 1.2, i: 0.01, d: 0.1, i_clamp: 1}
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wrist_1_joint: {p: 1.2, i: 0.01, d: 0.1, i_clamp: 1}
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wrist_2_joint: {p: 1.2, i: 0.01, d: 0.1, i_clamp: 1}
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wrist_3_joint: {p: 1.2, i: 0.01, 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 |