Merge lp:~shadowrobot/sr-config/Bug_change_control_type into lp:sr-config

[Toni Oliver]

Added PWM versions of the parameters for every kind of controller. Moved sr_edc_default_controllers.launch to sr_config stack. Removed unnecessary execution permission from yaml files.

[Ugo (ugocupcic)]

review: Approve

=== added file 'sr_ethercat_hand_config/controls/host/sr_edc_effort_controllers_PWM.yaml'
--- sr_ethercat_hand_config/controls/host/sr_edc_effort_controllers_PWM.yaml	1970-01-01 00:00:00 +0000
+++ sr_ethercat_hand_config/controls/host/sr_edc_effort_controllers_PWM.yaml	2012-10-30 14:29:21 +0000
@@ -0,0 +1,118 @@
+# First Finger (Index finger)
+sh_ffj0_effort_controller:
+  type: sr_mechanism_controllers/SrhEffortJointController
+  joint: FFJ2
+  max_force: 0
+  friction_deadband: 5000
+sh_ffj3_effort_controller:
+  type: sr_mechanism_controllers/SrhEffortJointController
+  joint: FFJ3
+  max_force: 0
+  friction_deadband: 5000
+sh_ffj4_effort_controller:
+  type: sr_mechanism_controllers/SrhEffortJointController
+  joint: FFJ4
+  max_force: 0
+  friction_deadband: 5
+
+
+# Middle Finger
+sh_mfj0_effort_controller:
+  type: sr_mechanism_controllers/SrhEffortJointController
+  joint: MFJ2
+  max_force: 0
+  friction_deadband: 5
+sh_mfj3_effort_controller:
+  type: sr_mechanism_controllers/SrhEffortJointController
+  joint: MFJ3
+  max_force: 0
+  friction_deadband: 5
+sh_mfj4_effort_controller:
+  type: sr_mechanism_controllers/SrhEffortJointController
+  joint: MFJ4
+  max_force: 0
+  friction_deadband: 5
+
+
+# Ring Finger
+sh_rfj0_effort_controller:
+  type: sr_mechanism_controllers/SrhEffortJointController
+  joint: RFJ2
+  max_force: 0
+  friction_deadband: 5
+sh_rfj3_effort_controller:
+  type: sr_mechanism_controllers/SrhEffortJointController
+  joint: RFJ3
+  max_force: 0
+  friction_deadband: 5
+sh_rfj4_effort_controller:
+  type: sr_mechanism_controllers/SrhEffortJointController
+  joint: RFJ4
+  max_force: 0
+  friction_deadband: 5
+
+
+# Little Finger
+sh_lfj0_effort_controller:
+  type: sr_mechanism_controllers/SrhEffortJointController
+  joint: LFJ2
+  max_force: 0
+  friction_deadband: 5
+sh_lfj3_effort_controller:
+  type: sr_mechanism_controllers/SrhEffortJointController
+  joint: LFJ3
+  max_force: 0
+  friction_deadband: 5
+sh_lfj4_effort_controller:
+  type: sr_mechanism_controllers/SrhEffortJointController
+  joint: LFJ4
+  max_force: 0
+  friction_deadband: 5
+sh_lfj5_effort_controller:
+  type: sr_mechanism_controllers/SrhEffortJointController
+  joint: LFJ5
+  max_force: 0
+  friction_deadband: 5
+
+
+# Thumb
+sh_thj1_effort_controller:
+  type: sr_mechanism_controllers/SrhEffortJointController
+  joint: THJ1
+  max_force: 0
+  friction_deadband: 5
+sh_thj2_effort_controller:
+  type: sr_mechanism_controllers/SrhEffortJointController
+  joint: THJ2
+  max_force: 0
+  friction_deadband: 5
+sh_thj3_effort_controller:
+  type: sr_mechanism_controllers/SrhEffortJointController
+  joint: THJ3
+  max_force: 0
+  friction_deadband: 5
+sh_thj4_effort_controller:
+  type: sr_mechanism_controllers/SrhEffortJointController
+  joint: THJ4
+  max_force: 0
+  friction_deadband: 5
+sh_thj5_effort_controller:
+  type: sr_mechanism_controllers/SrhEffortJointController
+  joint: THJ5
+  max_force: 0
+  friction_deadband: 5
+
+
+# Wrist
+sh_wrj1_effort_controller:
+  type: sr_mechanism_controllers/SrhEffortJointController
+  joint: WRJ1
+  max_force: 0
+  friction_deadband: 5
+sh_wrj2_effort_controller:
+  type: sr_mechanism_controllers/SrhEffortJointController
+  joint: WRJ2
+  max_force: 0
+  friction_deadband: 5
+
+

=== modified file 'sr_ethercat_hand_config/controls/host/sr_edc_joint_position_controllers.yaml' (properties changed: +x to -x)
=== modified file 'sr_ethercat_hand_config/controls/host/sr_edc_joint_position_controllers_PWM.yaml' (properties changed: +x to -x)
=== added file 'sr_ethercat_hand_config/controls/host/sr_edc_joint_velocity_controllers_PWM.yaml'
--- sr_ethercat_hand_config/controls/host/sr_edc_joint_velocity_controllers_PWM.yaml	1970-01-01 00:00:00 +0000
+++ sr_ethercat_hand_config/controls/host/sr_edc_joint_velocity_controllers_PWM.yaml	2012-10-30 14:29:21 +0000
@@ -0,0 +1,238 @@
+# Shadow Hand Defines .. Need Fixing as PID values are not correct
+
+sh_ffj0_velocity_controller:
+  type: sr_mechanism_controllers/SrhJointVelocityController
+  joint: FFJ0
+  pid:
+    p: 0
+    i: 0
+    d: 0
+    i_clamp: 1
+    max_force: 0
+    velocity_deadband: 0.015
+    friction_deadband: 5
+sh_ffj3_velocity_controller:
+  type: sr_mechanism_controllers/SrhJointVelocityController
+  joint: FFJ3
+  pid:
+    p: 0
+    i: 0
+    d: 0
+    i_clamp: 0
+    max_force: 0
+    velocity_deadband: 0.0
+    friction_deadband: 5
+sh_ffj4_velocity_controller:
+  type: sr_mechanism_controllers/SrhJointVelocityController
+  joint: FFJ4
+  pid:
+    p: 0
+    i: 0
+    d: 0
+    i_clamp: 1
+    max_force: 0
+    velocity_deadband: 0.015
+    friction_deadband: 5
+
+
+sh_mfj0_velocity_controller:
+  type: sr_mechanism_controllers/SrhJointVelocityController
+  joint: MFJ0
+  pid:
+    p: 0
+    i: 0
+    d: 0
+    i_clamp: 1
+    max_force: 0
+    velocity_deadband: 0.015
+    friction_deadband: 5
+sh_mfj3_velocity_controller:
+  type: sr_mechanism_controllers/SrhJointVelocityController
+  joint: MFJ3
+  pid:
+    p: 0
+    i: 0
+    d: 0
+    i_clamp: 1
+    max_force: 0
+    velocity_deadband: 0.015
+    friction_deadband: 5
+sh_mfj4_velocity_controller:
+  type: sr_mechanism_controllers/SrhJointVelocityController
+  joint: MFJ4
+  pid:
+    p: 0.0
+    i: -0.5
+    d: 0
+    i_clamp: 1
+    max_force: 0
+    velocity_deadband: 0.015
+    friction_deadband: 5
+
+
+
+sh_rfj0_velocity_controller:
+  type: sr_mechanism_controllers/SrhJointVelocityController
+  joint: RFJ0
+  pid:
+    p: 0
+    i: 0
+    d: 0
+    i_clamp: 1
+    max_force: 0
+    velocity_deadband: 0.015
+    friction_deadband: 5
+sh_rfj3_velocity_controller:
+  type: sr_mechanism_controllers/SrhJointVelocityController
+  joint: RFJ3
+  pid:
+    p: 0
+    i: 0
+    d: 0
+    i_clamp: 1
+    max_force: 0
+    velocity_deadband: 0.015
+    friction_deadband: 5
+sh_rfj4_velocity_controller:
+  type: sr_mechanism_controllers/SrhJointVelocityController
+  joint: RFJ4
+  pid:
+    p: 0
+    i: 0
+    d: 0
+    i_clamp: 1
+    max_force: 0
+    velocity_deadband: 0.015
+    friction_deadband: 5
+
+
+
+sh_lfj0_velocity_controller:
+  type: sr_mechanism_controllers/SrhJointVelocityController
+  joint: LFJ0
+  pid:
+    p: 0
+    i: 0
+    d: 0
+    i_clamp: 1
+    max_force: 0
+    velocity_deadband: 0.015
+    friction_deadband: 5
+sh_lfj3_velocity_controller:
+  type: sr_mechanism_controllers/SrhJointVelocityController
+  joint: LFJ3
+  pid:
+    p: 0
+    i: 0
+    d: 0
+    i_clamp: 1
+    max_force: 0
+    velocity_deadband: 0.015
+    friction_deadband: 5
+sh_lfj4_velocity_controller:
+  type: sr_mechanism_controllers/SrhJointVelocityController
+  joint: LFJ4
+  pid:
+    p: 0
+    i: 0
+    d: 0
+    i_clamp: 1
+    max_force: 0
+    velocity_deadband: 0.015
+    friction_deadband: 5
+sh_lfj5_velocity_controller:
+  type: sr_mechanism_controllers/SrhJointVelocityController
+  joint: LFJ5
+  pid:
+    p: 0
+    i: 0
+    d: 0
+    i_clamp: 1
+    max_force: 0
+    velocity_deadband: 0.015
+    friction_deadband: 5
+
+
+
+sh_thj1_velocity_controller:
+  type: sr_mechanism_controllers/SrhJointVelocityController
+  joint: THJ1
+  pid:
+    p: 0
+    i: 0
+    d: 0
+    i_clamp: 1
+    max_force: 0
+    velocity_deadband: 0.015
+    friction_deadband: 5
+sh_thj2_velocity_controller:
+  type: sr_mechanism_controllers/SrhJointVelocityController
+  joint: THJ2
+  pid:
+    p: 0
+    i: 0
+    d: 0
+    i_clamp: 1
+    max_force: 0
+    velocity_deadband: 0.015
+    friction_deadband: 5
+sh_thj3_velocity_controller:
+  type: sr_mechanism_controllers/SrhJointVelocityController
+  joint: THJ3
+  pid:
+    p: 0
+    i: 0
+    d: 0
+    i_clamp: 1
+    max_force: 0
+    velocity_deadband: 0.015
+    friction_deadband: 5
+sh_thj4_velocity_controller:
+  type: sr_mechanism_controllers/SrhJointVelocityController
+  joint: THJ4
+  pid:
+    p: 0
+    i: 0
+    d: 0
+    i_clamp: 1
+    max_force: 0
+    velocity_deadband: 0.015
+    friction_deadband: 5
+sh_thj5_velocity_controller:
+  type: sr_mechanism_controllers/SrhJointVelocityController
+  joint: THJ5
+  pid:
+    p: 0
+    i: 0
+    d: 0
+    i_clamp: 1
+    max_force: 0
+    velocity_deadband: 0.015
+    friction_deadband: 5
+
+
+
+sh_wrj1_velocity_controller:
+  type: sr_mechanism_controllers/SrhJointVelocityController
+  joint: WRJ1
+  pid:
+    p: 0
+    i: 0
+    d: 0
+    i_clamp: 1
+    max_force: 0
+    velocity_deadband: 0.015
+    friction_deadband: 5
+sh_wrj2_velocity_controller:
+  type: sr_mechanism_controllers/SrhJointVelocityController
+  joint: WRJ2
+  pid:
+    p: 0
+    i: 0
+    d: 0
+    i_clamp: 1
+    max_force: 0
+    velocity_deadband: 0.015
+    friction_deadband: 5
+
+

=== added file 'sr_ethercat_hand_config/controls/host/sr_edc_mixed_position_velocity_joint_controllers_PWM.yaml'
--- sr_ethercat_hand_config/controls/host/sr_edc_mixed_position_velocity_joint_controllers_PWM.yaml	1970-01-01 00:00:00 +0000
+++ sr_ethercat_hand_config/controls/host/sr_edc_mixed_position_velocity_joint_controllers_PWM.yaml	2012-10-30 14:29:21 +0000
@@ -0,0 +1,380 @@
+sh_ffj0_mixed_position_velocity_controller:
+  joint: FFJ0
+  motor_min_force_threshold: 40
+  position_pid:
+    d: 0.0
+    i: -1.5
+    i_clamp: 0.3
+    max_velocity: 3.0
+    min_velocity: -3.0
+    p: -4.0
+    position_deadband: 0.002
+  type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController
+  velocity_pid:
+    d: 0.0
+    friction_deadband: 100.0
+    i: 210.0
+    i_clamp: 160.0
+    max_force: 0.0
+    p: 150.0
+sh_ffj3_mixed_position_velocity_controller:
+  joint: FFJ3
+  motor_min_force_threshold: 40
+  position_pid:
+    d: 0.0
+    i: -1.5
+    i_clamp: 0.3
+    max_velocity: 1.5
+    min_velocity: -1.5
+    p: -4.0
+    position_deadband: 0.002
+  type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController
+  velocity_pid:
+    d: 0.0
+    friction_deadband: 100.0
+    i: 210.0
+    i_clamp: 160.0
+    max_force: 0.0
+    p: 150.0
+sh_ffj4_mixed_position_velocity_controller:
+  joint: FFJ4
+  motor_min_force_threshold: 40
+  position_pid:
+    d: 0.0
+    i: -1.5
+    i_clamp: 0.3
+    max_velocity: 1.5
+    min_velocity: -1.5
+    p: -4.0
+    position_deadband: 0.003
+  type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController
+  velocity_pid:
+    d: 0.0
+    friction_deadband: 5000.0
+    i: -210.0
+    i_clamp: 160.0
+    max_force: 0.0
+    p: -150.0
+sh_lfj0_mixed_position_velocity_controller:
+  joint: LFJ0
+  motor_min_force_threshold: 40
+  position_pid:
+    d: 0.0
+    i: -1.5
+    i_clamp: 0.3
+    max_velocity: 3.0
+    min_velocity: -3.0
+    p: -4.0
+    position_deadband: 0.002
+  type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController
+  velocity_pid:
+    d: 0.0
+    friction_deadband: 100.0
+    i: -210.0
+    i_clamp: 160.0
+    max_force: 0.0
+    p: -150.0
+sh_lfj3_mixed_position_velocity_controller:
+  joint: LFJ3
+  motor_min_force_threshold: 40
+  position_pid:
+    d: 0.0
+    i: -1.5
+    i_clamp: 0.3
+    max_velocity: 1.5
+    min_velocity: -1.5
+    p: -4.0
+    position_deadband: 0.002
+  type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController
+  velocity_pid:
+    d: 0.0
+    friction_deadband: 100.0
+    i: -210.0
+    i_clamp: 160.0
+    max_force: 0.0
+    p: -150.0
+sh_lfj4_mixed_position_velocity_controller:
+  joint: LFJ4
+  motor_min_force_threshold: 40
+  position_pid:
+    d: 0.0
+    i: -1.5
+    i_clamp: 0.3
+    max_velocity: 1.5
+    min_velocity: -1.5
+    p: -4.0
+    position_deadband: 0.003
+  type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController
+  velocity_pid:
+    d: 0.0
+    friction_deadband: 5000.0
+    i: 210.0
+    i_clamp: 160.0
+    max_force: 0.0
+    p: 150.0
+sh_lfj5_mixed_position_velocity_controller:
+  joint: LFJ5
+  motor_min_force_threshold: 40
+  position_pid:
+    d: 0.0
+    i: -1.5
+    i_clamp: 0.3
+    max_velocity: 1.5
+    min_velocity: -1.5
+    p: -4.0
+    position_deadband: 0.003
+  type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController
+  velocity_pid:
+    d: 0.0
+    friction_deadband: 5000.0
+    i: -210.0
+    i_clamp: 410.0
+    max_force: 0.0
+    p: -150.0
+sh_mfj0_mixed_position_velocity_controller:
+  joint: MFJ0
+  motor_min_force_threshold: 40
+  position_pid:
+    d: 0.0
+    i: -1.5
+    i_clamp: 0.3
+    max_velocity: 3.0
+    min_velocity: -3.0
+    p: -4.0
+    position_deadband: 0.002
+  type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController
+  velocity_pid:
+    d: 0.0
+    friction_deadband: 100.0
+    i: 210.0
+    i_clamp: 160.0
+    max_force: 0.0
+    p: 150.0
+sh_mfj3_mixed_position_velocity_controller:
+  joint: MFJ3
+  motor_min_force_threshold: 40
+  position_pid:
+    d: 0.0
+    i: -1.5
+    i_clamp: 0.3
+    max_velocity: 1.5
+    min_velocity: -1.5
+    p: -4.0
+    position_deadband: 0.002
+  type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController
+  velocity_pid:
+    d: 0.0
+    friction_deadband: 100.0
+    i: 210.0
+    i_clamp: 160.0
+    max_force: 0.0
+    p: 150.0
+sh_mfj4_mixed_position_velocity_controller:
+  joint: MFJ4
+  motor_min_force_threshold: 40
+  position_pid:
+    d: 0.0
+    i: -1.5
+    i_clamp: 0.3
+    max_velocity: 1.5
+    min_velocity: -1.5
+    p: -4.0
+    position_deadband: 0.003
+  type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController
+  velocity_pid:
+    d: 0.0
+    friction_deadband: 5000.0
+    i: -210.0
+    i_clamp: 160.0
+    max_force: 0.0
+    p: -150.0
+sh_rfj0_mixed_position_velocity_controller:
+  joint: RFJ0
+  motor_min_force_threshold: 40
+  position_pid:
+    d: 0.0
+    i: -1.5
+    i_clamp: 0.3
+    max_velocity: 3.0
+    min_velocity: -3.0
+    p: -4.0
+    position_deadband: 0.002
+  type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController
+  velocity_pid:
+    d: 0.0
+    friction_deadband: 100.0
+    i: -210.0
+    i_clamp: 160.0
+    max_force: 0.0
+    p: -150.0
+sh_rfj3_mixed_position_velocity_controller:
+  joint: RFJ3
+  motor_min_force_threshold: 40
+  position_pid:
+    d: 0.0
+    i: -1.5
+    i_clamp: 0.3
+    max_velocity: 1.5
+    min_velocity: -1.5
+    p: -4.0
+    position_deadband: 0.002
+  type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController
+  velocity_pid:
+    d: 0.0
+    friction_deadband: 100.0
+    i: -210.0
+    i_clamp: 160.0
+    max_force: 0.0
+    p: -150.0
+sh_rfj4_mixed_position_velocity_controller:
+  joint: RFJ4
+  motor_min_force_threshold: 40
+  position_pid:
+    d: 0.0
+    i: -1.5
+    i_clamp: 0.3
+    max_velocity: 1.5
+    min_velocity: -1.5
+    p: -4.0
+    position_deadband: 0.003
+  type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController
+  velocity_pid:
+    d: 0.0
+    friction_deadband: 5000.0
+    i: -210.0
+    i_clamp: 160.0
+    max_force: 0.0
+    p: -150.0
+sh_thj1_mixed_position_velocity_controller:
+  joint: THJ1
+  motor_min_force_threshold: 40
+  position_pid:
+    d: 0.0
+    i: -1.5
+    i_clamp: 0.3
+    max_velocity: 3.0
+    min_velocity: -3.0
+    p: -4.0
+    position_deadband: 0.002
+  type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController
+  velocity_pid:
+    d: 0.0
+    friction_deadband: 100.0
+    i: 210.0
+    i_clamp: 160.0
+    max_force: 0.0
+    p: 150.0
+sh_thj2_mixed_position_velocity_controller:
+  joint: THJ2
+  motor_min_force_threshold: 40
+  position_pid:
+    d: 0.0
+    i: -1.5
+    i_clamp: 0.3
+    max_velocity: 3.0
+    min_velocity: -3.0
+    p: -4.0
+    position_deadband: 0.002
+  type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController
+  velocity_pid:
+    d: 0.0
+    friction_deadband: 100.0
+    i: 210.0
+    i_clamp: 160.0
+    max_force: 0.0
+    p: 150.0
+sh_thj3_mixed_position_velocity_controller:
+  joint: THJ3
+  motor_min_force_threshold: 40
+  position_pid:
+    d: 0.0
+    i: -1.5
+    i_clamp: 0.3
+    max_velocity: 1.5
+    min_velocity: -1.5
+    p: -4.0
+    position_deadband: 0.002
+  type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController
+  velocity_pid:
+    d: 0.0
+    friction_deadband: 100.0
+    i: 210.0
+    i_clamp: 160.0
+    max_force: 0.0
+    p: 150.0
+sh_thj4_mixed_position_velocity_controller:
+  joint: THJ4
+  motor_min_force_threshold: 40
+  position_pid:
+    d: 0.0
+    i: -1.5
+    i_clamp: 0.3
+    max_velocity: 1.5
+    min_velocity: -1.5
+    p: -4.0
+    position_deadband: 0.003
+  type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController
+  velocity_pid:
+    d: 0.0
+    friction_deadband: 5000.0
+    i: -260.0
+    i_clamp: 180.0
+    max_force: 0.0
+    p: -210.0
+sh_thj5_mixed_position_velocity_controller:
+  joint: THJ5
+  motor_min_force_threshold: 40
+  position_pid:
+    d: 0.0
+    i: -1.5
+    i_clamp: 0.3
+    max_velocity: 1.5
+    min_velocity: -1.5
+    p: -4.0
+    position_deadband: 0.003
+  type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController
+  velocity_pid:
+    d: 0.0
+    friction_deadband: 5000.0
+    i: 210.0
+    i_clamp: 160.0
+    max_force: 0.0
+    p: 150.0
+sh_wrj1_mixed_position_velocity_controller:
+  joint: WRJ1
+  motor_min_force_threshold: 40
+  position_pid:
+    d: 0.0
+    i: -1.5
+    i_clamp: 0.3
+    max_velocity: 0.5
+    min_velocity: -0.5
+    p: -4.0
+    position_deadband: 0.002
+  type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController
+  velocity_pid:
+    d: 0.0
+    friction_deadband: 100.0
+    i: 460.0
+    i_clamp: 270.0
+    max_force: 0.0
+    p: 320.0
+sh_wrj2_mixed_position_velocity_controller:
+  joint: WRJ2
+  motor_min_force_threshold: 40
+  position_pid:
+    d: 0.0
+    i: -1.5
+    i_clamp: 0.3
+    max_velocity: 0.5
+    min_velocity: -0.5
+    p: -4.0
+    position_deadband: 0.002
+  type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController
+  velocity_pid:
+    d: 0.0
+    friction_deadband: 100.0
+    i: -280.0
+    i_clamp: 190.0
+    max_force: 0.0
+    p: -230.0

=== added file 'sr_ethercat_hand_config/controls/sr_edc_default_controllers.launch'
--- sr_ethercat_hand_config/controls/sr_edc_default_controllers.launch	1970-01-01 00:00:00 +0000
+++ sr_ethercat_hand_config/controls/sr_edc_default_controllers.launch	2012-10-30 14:29:21 +0000
@@ -0,0 +1,20 @@
+<launch>
+  <!-- <rosparam command="load" file="$(find sr_ethercat_hand_config)/controls/motors/motor_board_effort_controllers_stopped.yaml" />  -->
+  <!-- <rosparam command="load" file="$(find sr_ethercat_hand_config)/controls/motors/motor_board_effort_controllers_ff_and_th.yaml" /> -->
+  <rosparam command="load" file="$(find sr_ethercat_hand_config)/controls/motors/motor_board_effort_controllers.yaml" />
+  <rosparam command="load" file="$(find sr_ethercat_hand_config)/controls/friction_compensation.yaml" />
+
+  <!-- Parameters for the controllers if we're using torque control mode, i.e. sending force commands to
+       the force control loop in the motor board (that uses the data from the tendon strain gauges) -->
+  <rosparam unless="$(optenv PWM_CONTROL 0)" command="load" file="$(find sr_ethercat_hand_config)/controls/host/sr_edc_effort_controllers.yaml" />
+  <rosparam unless="$(optenv PWM_CONTROL 0)" command="load" file="$(find sr_ethercat_hand_config)/controls/host/sr_edc_joint_position_controllers.yaml" />
+  <rosparam unless="$(optenv PWM_CONTROL 0)" command="load" file="$(find sr_ethercat_hand_config)/controls/host/sr_edc_mixed_position_velocity_joint_controllers.yaml" />
+  <rosparam unless="$(optenv PWM_CONTROL 0)" command="load" file="$(find sr_ethercat_hand_config)/controls/host/sr_edc_joint_velocity_controllers.yaml" />
+
+  <!-- Parameters for the controllers if we're using PWM control mode, i.e. sending direct PWM commands from the host to the motor,
+       WITHOUT using the force control loop in the motor board (that uses the data from the tendon strain gauges) -->
+  <rosparam if="$(optenv PWM_CONTROL 0)" command="load" file="$(find sr_ethercat_hand_config)/controls/host/sr_edc_effort_controllers_PWM.yaml" />
+  <rosparam if="$(optenv PWM_CONTROL 0)" command="load" file="$(find sr_ethercat_hand_config)/controls/host/sr_edc_joint_position_controllers_PWM.yaml" />
+  <rosparam if="$(optenv PWM_CONTROL 0)" command="load" file="$(find sr_ethercat_hand_config)/controls/host/sr_edc_mixed_position_velocity_joint_controllers_PWM.yaml" />
+  <rosparam if="$(optenv PWM_CONTROL 0)" command="load" file="$(find sr_ethercat_hand_config)/controls/host/sr_edc_joint_velocity_controllers_PWM.yaml" />
+</launch>