Merge lp:~shadowrobot/sr-config/Bug_change_control_type into lp:sr-config
- Bug_change_control_type
- Merge into trunk
Proposed by
Toni Oliver
| Status: | Merged |
|---|---|
| Merged at revision: | 22 |
| Proposed branch: | lp:~shadowrobot/sr-config/Bug_change_control_type |
| Merge into: | lp:sr-config |
| Diff against target: |
777 lines (+756/-0) 4 files modified
sr_ethercat_hand_config/controls/host/sr_edc_effort_controllers_PWM.yaml (+118/-0) sr_ethercat_hand_config/controls/host/sr_edc_joint_velocity_controllers_PWM.yaml (+238/-0) sr_ethercat_hand_config/controls/host/sr_edc_mixed_position_velocity_joint_controllers_PWM.yaml (+380/-0) sr_ethercat_hand_config/controls/sr_edc_default_controllers.launch (+20/-0) |
| To merge this branch: | bzr merge lp:~shadowrobot/sr-config/Bug_change_control_type |
| Related bugs: |
| Reviewer | Review Type | Date Requested | Status |
|---|---|---|---|
| Ugo | Approve | ||
|
Review via email:
|
|||
Commit message
Description of the change
Added PWM versions of the parameters for every kind of controller. Moved sr_edc_
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| Ugo (ugocupcic) : | # |
review:
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| 1 | === added file 'sr_ethercat_hand_config/controls/host/sr_edc_effort_controllers_PWM.yaml' | |||
| 2 | --- sr_ethercat_hand_config/controls/host/sr_edc_effort_controllers_PWM.yaml 1970-01-01 00:00:00 +0000 | |||
| 3 | +++ sr_ethercat_hand_config/controls/host/sr_edc_effort_controllers_PWM.yaml 2012-10-30 14:29:21 +0000 | |||
| 4 | @@ -0,0 +1,118 @@ | |||
| 5 | 1 | # First Finger (Index finger) | ||
| 6 | 2 | sh_ffj0_effort_controller: | ||
| 7 | 3 | type: sr_mechanism_controllers/SrhEffortJointController | ||
| 8 | 4 | joint: FFJ2 | ||
| 9 | 5 | max_force: 0 | ||
| 10 | 6 | friction_deadband: 5000 | ||
| 11 | 7 | sh_ffj3_effort_controller: | ||
| 12 | 8 | type: sr_mechanism_controllers/SrhEffortJointController | ||
| 13 | 9 | joint: FFJ3 | ||
| 14 | 10 | max_force: 0 | ||
| 15 | 11 | friction_deadband: 5000 | ||
| 16 | 12 | sh_ffj4_effort_controller: | ||
| 17 | 13 | type: sr_mechanism_controllers/SrhEffortJointController | ||
| 18 | 14 | joint: FFJ4 | ||
| 19 | 15 | max_force: 0 | ||
| 20 | 16 | friction_deadband: 5 | ||
| 21 | 17 | |||
| 22 | 18 | |||
| 23 | 19 | # Middle Finger | ||
| 24 | 20 | sh_mfj0_effort_controller: | ||
| 25 | 21 | type: sr_mechanism_controllers/SrhEffortJointController | ||
| 26 | 22 | joint: MFJ2 | ||
| 27 | 23 | max_force: 0 | ||
| 28 | 24 | friction_deadband: 5 | ||
| 29 | 25 | sh_mfj3_effort_controller: | ||
| 30 | 26 | type: sr_mechanism_controllers/SrhEffortJointController | ||
| 31 | 27 | joint: MFJ3 | ||
| 32 | 28 | max_force: 0 | ||
| 33 | 29 | friction_deadband: 5 | ||
| 34 | 30 | sh_mfj4_effort_controller: | ||
| 35 | 31 | type: sr_mechanism_controllers/SrhEffortJointController | ||
| 36 | 32 | joint: MFJ4 | ||
| 37 | 33 | max_force: 0 | ||
| 38 | 34 | friction_deadband: 5 | ||
| 39 | 35 | |||
| 40 | 36 | |||
| 41 | 37 | # Ring Finger | ||
| 42 | 38 | sh_rfj0_effort_controller: | ||
| 43 | 39 | type: sr_mechanism_controllers/SrhEffortJointController | ||
| 44 | 40 | joint: RFJ2 | ||
| 45 | 41 | max_force: 0 | ||
| 46 | 42 | friction_deadband: 5 | ||
| 47 | 43 | sh_rfj3_effort_controller: | ||
| 48 | 44 | type: sr_mechanism_controllers/SrhEffortJointController | ||
| 49 | 45 | joint: RFJ3 | ||
| 50 | 46 | max_force: 0 | ||
| 51 | 47 | friction_deadband: 5 | ||
| 52 | 48 | sh_rfj4_effort_controller: | ||
| 53 | 49 | type: sr_mechanism_controllers/SrhEffortJointController | ||
| 54 | 50 | joint: RFJ4 | ||
| 55 | 51 | max_force: 0 | ||
| 56 | 52 | friction_deadband: 5 | ||
| 57 | 53 | |||
| 58 | 54 | |||
| 59 | 55 | # Little Finger | ||
| 60 | 56 | sh_lfj0_effort_controller: | ||
| 61 | 57 | type: sr_mechanism_controllers/SrhEffortJointController | ||
| 62 | 58 | joint: LFJ2 | ||
| 63 | 59 | max_force: 0 | ||
| 64 | 60 | friction_deadband: 5 | ||
| 65 | 61 | sh_lfj3_effort_controller: | ||
| 66 | 62 | type: sr_mechanism_controllers/SrhEffortJointController | ||
| 67 | 63 | joint: LFJ3 | ||
| 68 | 64 | max_force: 0 | ||
| 69 | 65 | friction_deadband: 5 | ||
| 70 | 66 | sh_lfj4_effort_controller: | ||
| 71 | 67 | type: sr_mechanism_controllers/SrhEffortJointController | ||
| 72 | 68 | joint: LFJ4 | ||
| 73 | 69 | max_force: 0 | ||
| 74 | 70 | friction_deadband: 5 | ||
| 75 | 71 | sh_lfj5_effort_controller: | ||
| 76 | 72 | type: sr_mechanism_controllers/SrhEffortJointController | ||
| 77 | 73 | joint: LFJ5 | ||
| 78 | 74 | max_force: 0 | ||
| 79 | 75 | friction_deadband: 5 | ||
| 80 | 76 | |||
| 81 | 77 | |||
| 82 | 78 | # Thumb | ||
| 83 | 79 | sh_thj1_effort_controller: | ||
| 84 | 80 | type: sr_mechanism_controllers/SrhEffortJointController | ||
| 85 | 81 | joint: THJ1 | ||
| 86 | 82 | max_force: 0 | ||
| 87 | 83 | friction_deadband: 5 | ||
| 88 | 84 | sh_thj2_effort_controller: | ||
| 89 | 85 | type: sr_mechanism_controllers/SrhEffortJointController | ||
| 90 | 86 | joint: THJ2 | ||
| 91 | 87 | max_force: 0 | ||
| 92 | 88 | friction_deadband: 5 | ||
| 93 | 89 | sh_thj3_effort_controller: | ||
| 94 | 90 | type: sr_mechanism_controllers/SrhEffortJointController | ||
| 95 | 91 | joint: THJ3 | ||
| 96 | 92 | max_force: 0 | ||
| 97 | 93 | friction_deadband: 5 | ||
| 98 | 94 | sh_thj4_effort_controller: | ||
| 99 | 95 | type: sr_mechanism_controllers/SrhEffortJointController | ||
| 100 | 96 | joint: THJ4 | ||
| 101 | 97 | max_force: 0 | ||
| 102 | 98 | friction_deadband: 5 | ||
| 103 | 99 | sh_thj5_effort_controller: | ||
| 104 | 100 | type: sr_mechanism_controllers/SrhEffortJointController | ||
| 105 | 101 | joint: THJ5 | ||
| 106 | 102 | max_force: 0 | ||
| 107 | 103 | friction_deadband: 5 | ||
| 108 | 104 | |||
| 109 | 105 | |||
| 110 | 106 | # Wrist | ||
| 111 | 107 | sh_wrj1_effort_controller: | ||
| 112 | 108 | type: sr_mechanism_controllers/SrhEffortJointController | ||
| 113 | 109 | joint: WRJ1 | ||
| 114 | 110 | max_force: 0 | ||
| 115 | 111 | friction_deadband: 5 | ||
| 116 | 112 | sh_wrj2_effort_controller: | ||
| 117 | 113 | type: sr_mechanism_controllers/SrhEffortJointController | ||
| 118 | 114 | joint: WRJ2 | ||
| 119 | 115 | max_force: 0 | ||
| 120 | 116 | friction_deadband: 5 | ||
| 121 | 117 | |||
| 122 | 118 | |||
| 123 | 0 | 119 | ||
| 124 | === modified file 'sr_ethercat_hand_config/controls/host/sr_edc_joint_position_controllers.yaml' (properties changed: +x to -x) | |||
| 125 | === modified file 'sr_ethercat_hand_config/controls/host/sr_edc_joint_position_controllers_PWM.yaml' (properties changed: +x to -x) | |||
| 126 | === added file 'sr_ethercat_hand_config/controls/host/sr_edc_joint_velocity_controllers_PWM.yaml' | |||
| 127 | --- sr_ethercat_hand_config/controls/host/sr_edc_joint_velocity_controllers_PWM.yaml 1970-01-01 00:00:00 +0000 | |||
| 128 | +++ sr_ethercat_hand_config/controls/host/sr_edc_joint_velocity_controllers_PWM.yaml 2012-10-30 14:29:21 +0000 | |||
| 129 | @@ -0,0 +1,238 @@ | |||
| 130 | 1 | # Shadow Hand Defines .. Need Fixing as PID values are not correct | ||
| 131 | 2 | |||
| 132 | 3 | sh_ffj0_velocity_controller: | ||
| 133 | 4 | type: sr_mechanism_controllers/SrhJointVelocityController | ||
| 134 | 5 | joint: FFJ0 | ||
| 135 | 6 | pid: | ||
| 136 | 7 | p: 0 | ||
| 137 | 8 | i: 0 | ||
| 138 | 9 | d: 0 | ||
| 139 | 10 | i_clamp: 1 | ||
| 140 | 11 | max_force: 0 | ||
| 141 | 12 | velocity_deadband: 0.015 | ||
| 142 | 13 | friction_deadband: 5 | ||
| 143 | 14 | sh_ffj3_velocity_controller: | ||
| 144 | 15 | type: sr_mechanism_controllers/SrhJointVelocityController | ||
| 145 | 16 | joint: FFJ3 | ||
| 146 | 17 | pid: | ||
| 147 | 18 | p: 0 | ||
| 148 | 19 | i: 0 | ||
| 149 | 20 | d: 0 | ||
| 150 | 21 | i_clamp: 0 | ||
| 151 | 22 | max_force: 0 | ||
| 152 | 23 | velocity_deadband: 0.0 | ||
| 153 | 24 | friction_deadband: 5 | ||
| 154 | 25 | sh_ffj4_velocity_controller: | ||
| 155 | 26 | type: sr_mechanism_controllers/SrhJointVelocityController | ||
| 156 | 27 | joint: FFJ4 | ||
| 157 | 28 | pid: | ||
| 158 | 29 | p: 0 | ||
| 159 | 30 | i: 0 | ||
| 160 | 31 | d: 0 | ||
| 161 | 32 | i_clamp: 1 | ||
| 162 | 33 | max_force: 0 | ||
| 163 | 34 | velocity_deadband: 0.015 | ||
| 164 | 35 | friction_deadband: 5 | ||
| 165 | 36 | |||
| 166 | 37 | |||
| 167 | 38 | sh_mfj0_velocity_controller: | ||
| 168 | 39 | type: sr_mechanism_controllers/SrhJointVelocityController | ||
| 169 | 40 | joint: MFJ0 | ||
| 170 | 41 | pid: | ||
| 171 | 42 | p: 0 | ||
| 172 | 43 | i: 0 | ||
| 173 | 44 | d: 0 | ||
| 174 | 45 | i_clamp: 1 | ||
| 175 | 46 | max_force: 0 | ||
| 176 | 47 | velocity_deadband: 0.015 | ||
| 177 | 48 | friction_deadband: 5 | ||
| 178 | 49 | sh_mfj3_velocity_controller: | ||
| 179 | 50 | type: sr_mechanism_controllers/SrhJointVelocityController | ||
| 180 | 51 | joint: MFJ3 | ||
| 181 | 52 | pid: | ||
| 182 | 53 | p: 0 | ||
| 183 | 54 | i: 0 | ||
| 184 | 55 | d: 0 | ||
| 185 | 56 | i_clamp: 1 | ||
| 186 | 57 | max_force: 0 | ||
| 187 | 58 | velocity_deadband: 0.015 | ||
| 188 | 59 | friction_deadband: 5 | ||
| 189 | 60 | sh_mfj4_velocity_controller: | ||
| 190 | 61 | type: sr_mechanism_controllers/SrhJointVelocityController | ||
| 191 | 62 | joint: MFJ4 | ||
| 192 | 63 | pid: | ||
| 193 | 64 | p: 0.0 | ||
| 194 | 65 | i: -0.5 | ||
| 195 | 66 | d: 0 | ||
| 196 | 67 | i_clamp: 1 | ||
| 197 | 68 | max_force: 0 | ||
| 198 | 69 | velocity_deadband: 0.015 | ||
| 199 | 70 | friction_deadband: 5 | ||
| 200 | 71 | |||
| 201 | 72 | |||
| 202 | 73 | |||
| 203 | 74 | sh_rfj0_velocity_controller: | ||
| 204 | 75 | type: sr_mechanism_controllers/SrhJointVelocityController | ||
| 205 | 76 | joint: RFJ0 | ||
| 206 | 77 | pid: | ||
| 207 | 78 | p: 0 | ||
| 208 | 79 | i: 0 | ||
| 209 | 80 | d: 0 | ||
| 210 | 81 | i_clamp: 1 | ||
| 211 | 82 | max_force: 0 | ||
| 212 | 83 | velocity_deadband: 0.015 | ||
| 213 | 84 | friction_deadband: 5 | ||
| 214 | 85 | sh_rfj3_velocity_controller: | ||
| 215 | 86 | type: sr_mechanism_controllers/SrhJointVelocityController | ||
| 216 | 87 | joint: RFJ3 | ||
| 217 | 88 | pid: | ||
| 218 | 89 | p: 0 | ||
| 219 | 90 | i: 0 | ||
| 220 | 91 | d: 0 | ||
| 221 | 92 | i_clamp: 1 | ||
| 222 | 93 | max_force: 0 | ||
| 223 | 94 | velocity_deadband: 0.015 | ||
| 224 | 95 | friction_deadband: 5 | ||
| 225 | 96 | sh_rfj4_velocity_controller: | ||
| 226 | 97 | type: sr_mechanism_controllers/SrhJointVelocityController | ||
| 227 | 98 | joint: RFJ4 | ||
| 228 | 99 | pid: | ||
| 229 | 100 | p: 0 | ||
| 230 | 101 | i: 0 | ||
| 231 | 102 | d: 0 | ||
| 232 | 103 | i_clamp: 1 | ||
| 233 | 104 | max_force: 0 | ||
| 234 | 105 | velocity_deadband: 0.015 | ||
| 235 | 106 | friction_deadband: 5 | ||
| 236 | 107 | |||
| 237 | 108 | |||
| 238 | 109 | |||
| 239 | 110 | sh_lfj0_velocity_controller: | ||
| 240 | 111 | type: sr_mechanism_controllers/SrhJointVelocityController | ||
| 241 | 112 | joint: LFJ0 | ||
| 242 | 113 | pid: | ||
| 243 | 114 | p: 0 | ||
| 244 | 115 | i: 0 | ||
| 245 | 116 | d: 0 | ||
| 246 | 117 | i_clamp: 1 | ||
| 247 | 118 | max_force: 0 | ||
| 248 | 119 | velocity_deadband: 0.015 | ||
| 249 | 120 | friction_deadband: 5 | ||
| 250 | 121 | sh_lfj3_velocity_controller: | ||
| 251 | 122 | type: sr_mechanism_controllers/SrhJointVelocityController | ||
| 252 | 123 | joint: LFJ3 | ||
| 253 | 124 | pid: | ||
| 254 | 125 | p: 0 | ||
| 255 | 126 | i: 0 | ||
| 256 | 127 | d: 0 | ||
| 257 | 128 | i_clamp: 1 | ||
| 258 | 129 | max_force: 0 | ||
| 259 | 130 | velocity_deadband: 0.015 | ||
| 260 | 131 | friction_deadband: 5 | ||
| 261 | 132 | sh_lfj4_velocity_controller: | ||
| 262 | 133 | type: sr_mechanism_controllers/SrhJointVelocityController | ||
| 263 | 134 | joint: LFJ4 | ||
| 264 | 135 | pid: | ||
| 265 | 136 | p: 0 | ||
| 266 | 137 | i: 0 | ||
| 267 | 138 | d: 0 | ||
| 268 | 139 | i_clamp: 1 | ||
| 269 | 140 | max_force: 0 | ||
| 270 | 141 | velocity_deadband: 0.015 | ||
| 271 | 142 | friction_deadband: 5 | ||
| 272 | 143 | sh_lfj5_velocity_controller: | ||
| 273 | 144 | type: sr_mechanism_controllers/SrhJointVelocityController | ||
| 274 | 145 | joint: LFJ5 | ||
| 275 | 146 | pid: | ||
| 276 | 147 | p: 0 | ||
| 277 | 148 | i: 0 | ||
| 278 | 149 | d: 0 | ||
| 279 | 150 | i_clamp: 1 | ||
| 280 | 151 | max_force: 0 | ||
| 281 | 152 | velocity_deadband: 0.015 | ||
| 282 | 153 | friction_deadband: 5 | ||
| 283 | 154 | |||
| 284 | 155 | |||
| 285 | 156 | |||
| 286 | 157 | sh_thj1_velocity_controller: | ||
| 287 | 158 | type: sr_mechanism_controllers/SrhJointVelocityController | ||
| 288 | 159 | joint: THJ1 | ||
| 289 | 160 | pid: | ||
| 290 | 161 | p: 0 | ||
| 291 | 162 | i: 0 | ||
| 292 | 163 | d: 0 | ||
| 293 | 164 | i_clamp: 1 | ||
| 294 | 165 | max_force: 0 | ||
| 295 | 166 | velocity_deadband: 0.015 | ||
| 296 | 167 | friction_deadband: 5 | ||
| 297 | 168 | sh_thj2_velocity_controller: | ||
| 298 | 169 | type: sr_mechanism_controllers/SrhJointVelocityController | ||
| 299 | 170 | joint: THJ2 | ||
| 300 | 171 | pid: | ||
| 301 | 172 | p: 0 | ||
| 302 | 173 | i: 0 | ||
| 303 | 174 | d: 0 | ||
| 304 | 175 | i_clamp: 1 | ||
| 305 | 176 | max_force: 0 | ||
| 306 | 177 | velocity_deadband: 0.015 | ||
| 307 | 178 | friction_deadband: 5 | ||
| 308 | 179 | sh_thj3_velocity_controller: | ||
| 309 | 180 | type: sr_mechanism_controllers/SrhJointVelocityController | ||
| 310 | 181 | joint: THJ3 | ||
| 311 | 182 | pid: | ||
| 312 | 183 | p: 0 | ||
| 313 | 184 | i: 0 | ||
| 314 | 185 | d: 0 | ||
| 315 | 186 | i_clamp: 1 | ||
| 316 | 187 | max_force: 0 | ||
| 317 | 188 | velocity_deadband: 0.015 | ||
| 318 | 189 | friction_deadband: 5 | ||
| 319 | 190 | sh_thj4_velocity_controller: | ||
| 320 | 191 | type: sr_mechanism_controllers/SrhJointVelocityController | ||
| 321 | 192 | joint: THJ4 | ||
| 322 | 193 | pid: | ||
| 323 | 194 | p: 0 | ||
| 324 | 195 | i: 0 | ||
| 325 | 196 | d: 0 | ||
| 326 | 197 | i_clamp: 1 | ||
| 327 | 198 | max_force: 0 | ||
| 328 | 199 | velocity_deadband: 0.015 | ||
| 329 | 200 | friction_deadband: 5 | ||
| 330 | 201 | sh_thj5_velocity_controller: | ||
| 331 | 202 | type: sr_mechanism_controllers/SrhJointVelocityController | ||
| 332 | 203 | joint: THJ5 | ||
| 333 | 204 | pid: | ||
| 334 | 205 | p: 0 | ||
| 335 | 206 | i: 0 | ||
| 336 | 207 | d: 0 | ||
| 337 | 208 | i_clamp: 1 | ||
| 338 | 209 | max_force: 0 | ||
| 339 | 210 | velocity_deadband: 0.015 | ||
| 340 | 211 | friction_deadband: 5 | ||
| 341 | 212 | |||
| 342 | 213 | |||
| 343 | 214 | |||
| 344 | 215 | sh_wrj1_velocity_controller: | ||
| 345 | 216 | type: sr_mechanism_controllers/SrhJointVelocityController | ||
| 346 | 217 | joint: WRJ1 | ||
| 347 | 218 | pid: | ||
| 348 | 219 | p: 0 | ||
| 349 | 220 | i: 0 | ||
| 350 | 221 | d: 0 | ||
| 351 | 222 | i_clamp: 1 | ||
| 352 | 223 | max_force: 0 | ||
| 353 | 224 | velocity_deadband: 0.015 | ||
| 354 | 225 | friction_deadband: 5 | ||
| 355 | 226 | sh_wrj2_velocity_controller: | ||
| 356 | 227 | type: sr_mechanism_controllers/SrhJointVelocityController | ||
| 357 | 228 | joint: WRJ2 | ||
| 358 | 229 | pid: | ||
| 359 | 230 | p: 0 | ||
| 360 | 231 | i: 0 | ||
| 361 | 232 | d: 0 | ||
| 362 | 233 | i_clamp: 1 | ||
| 363 | 234 | max_force: 0 | ||
| 364 | 235 | velocity_deadband: 0.015 | ||
| 365 | 236 | friction_deadband: 5 | ||
| 366 | 237 | |||
| 367 | 238 | |||
| 368 | 0 | 239 | ||
| 369 | === added file 'sr_ethercat_hand_config/controls/host/sr_edc_mixed_position_velocity_joint_controllers_PWM.yaml' | |||
| 370 | --- sr_ethercat_hand_config/controls/host/sr_edc_mixed_position_velocity_joint_controllers_PWM.yaml 1970-01-01 00:00:00 +0000 | |||
| 371 | +++ sr_ethercat_hand_config/controls/host/sr_edc_mixed_position_velocity_joint_controllers_PWM.yaml 2012-10-30 14:29:21 +0000 | |||
| 372 | @@ -0,0 +1,380 @@ | |||
| 373 | 1 | sh_ffj0_mixed_position_velocity_controller: | ||
| 374 | 2 | joint: FFJ0 | ||
| 375 | 3 | motor_min_force_threshold: 40 | ||
| 376 | 4 | position_pid: | ||
| 377 | 5 | d: 0.0 | ||
| 378 | 6 | i: -1.5 | ||
| 379 | 7 | i_clamp: 0.3 | ||
| 380 | 8 | max_velocity: 3.0 | ||
| 381 | 9 | min_velocity: -3.0 | ||
| 382 | 10 | p: -4.0 | ||
| 383 | 11 | position_deadband: 0.002 | ||
| 384 | 12 | type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController | ||
| 385 | 13 | velocity_pid: | ||
| 386 | 14 | d: 0.0 | ||
| 387 | 15 | friction_deadband: 100.0 | ||
| 388 | 16 | i: 210.0 | ||
| 389 | 17 | i_clamp: 160.0 | ||
| 390 | 18 | max_force: 0.0 | ||
| 391 | 19 | p: 150.0 | ||
| 392 | 20 | sh_ffj3_mixed_position_velocity_controller: | ||
| 393 | 21 | joint: FFJ3 | ||
| 394 | 22 | motor_min_force_threshold: 40 | ||
| 395 | 23 | position_pid: | ||
| 396 | 24 | d: 0.0 | ||
| 397 | 25 | i: -1.5 | ||
| 398 | 26 | i_clamp: 0.3 | ||
| 399 | 27 | max_velocity: 1.5 | ||
| 400 | 28 | min_velocity: -1.5 | ||
| 401 | 29 | p: -4.0 | ||
| 402 | 30 | position_deadband: 0.002 | ||
| 403 | 31 | type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController | ||
| 404 | 32 | velocity_pid: | ||
| 405 | 33 | d: 0.0 | ||
| 406 | 34 | friction_deadband: 100.0 | ||
| 407 | 35 | i: 210.0 | ||
| 408 | 36 | i_clamp: 160.0 | ||
| 409 | 37 | max_force: 0.0 | ||
| 410 | 38 | p: 150.0 | ||
| 411 | 39 | sh_ffj4_mixed_position_velocity_controller: | ||
| 412 | 40 | joint: FFJ4 | ||
| 413 | 41 | motor_min_force_threshold: 40 | ||
| 414 | 42 | position_pid: | ||
| 415 | 43 | d: 0.0 | ||
| 416 | 44 | i: -1.5 | ||
| 417 | 45 | i_clamp: 0.3 | ||
| 418 | 46 | max_velocity: 1.5 | ||
| 419 | 47 | min_velocity: -1.5 | ||
| 420 | 48 | p: -4.0 | ||
| 421 | 49 | position_deadband: 0.003 | ||
| 422 | 50 | type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController | ||
| 423 | 51 | velocity_pid: | ||
| 424 | 52 | d: 0.0 | ||
| 425 | 53 | friction_deadband: 5000.0 | ||
| 426 | 54 | i: -210.0 | ||
| 427 | 55 | i_clamp: 160.0 | ||
| 428 | 56 | max_force: 0.0 | ||
| 429 | 57 | p: -150.0 | ||
| 430 | 58 | sh_lfj0_mixed_position_velocity_controller: | ||
| 431 | 59 | joint: LFJ0 | ||
| 432 | 60 | motor_min_force_threshold: 40 | ||
| 433 | 61 | position_pid: | ||
| 434 | 62 | d: 0.0 | ||
| 435 | 63 | i: -1.5 | ||
| 436 | 64 | i_clamp: 0.3 | ||
| 437 | 65 | max_velocity: 3.0 | ||
| 438 | 66 | min_velocity: -3.0 | ||
| 439 | 67 | p: -4.0 | ||
| 440 | 68 | position_deadband: 0.002 | ||
| 441 | 69 | type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController | ||
| 442 | 70 | velocity_pid: | ||
| 443 | 71 | d: 0.0 | ||
| 444 | 72 | friction_deadband: 100.0 | ||
| 445 | 73 | i: -210.0 | ||
| 446 | 74 | i_clamp: 160.0 | ||
| 447 | 75 | max_force: 0.0 | ||
| 448 | 76 | p: -150.0 | ||
| 449 | 77 | sh_lfj3_mixed_position_velocity_controller: | ||
| 450 | 78 | joint: LFJ3 | ||
| 451 | 79 | motor_min_force_threshold: 40 | ||
| 452 | 80 | position_pid: | ||
| 453 | 81 | d: 0.0 | ||
| 454 | 82 | i: -1.5 | ||
| 455 | 83 | i_clamp: 0.3 | ||
| 456 | 84 | max_velocity: 1.5 | ||
| 457 | 85 | min_velocity: -1.5 | ||
| 458 | 86 | p: -4.0 | ||
| 459 | 87 | position_deadband: 0.002 | ||
| 460 | 88 | type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController | ||
| 461 | 89 | velocity_pid: | ||
| 462 | 90 | d: 0.0 | ||
| 463 | 91 | friction_deadband: 100.0 | ||
| 464 | 92 | i: -210.0 | ||
| 465 | 93 | i_clamp: 160.0 | ||
| 466 | 94 | max_force: 0.0 | ||
| 467 | 95 | p: -150.0 | ||
| 468 | 96 | sh_lfj4_mixed_position_velocity_controller: | ||
| 469 | 97 | joint: LFJ4 | ||
| 470 | 98 | motor_min_force_threshold: 40 | ||
| 471 | 99 | position_pid: | ||
| 472 | 100 | d: 0.0 | ||
| 473 | 101 | i: -1.5 | ||
| 474 | 102 | i_clamp: 0.3 | ||
| 475 | 103 | max_velocity: 1.5 | ||
| 476 | 104 | min_velocity: -1.5 | ||
| 477 | 105 | p: -4.0 | ||
| 478 | 106 | position_deadband: 0.003 | ||
| 479 | 107 | type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController | ||
| 480 | 108 | velocity_pid: | ||
| 481 | 109 | d: 0.0 | ||
| 482 | 110 | friction_deadband: 5000.0 | ||
| 483 | 111 | i: 210.0 | ||
| 484 | 112 | i_clamp: 160.0 | ||
| 485 | 113 | max_force: 0.0 | ||
| 486 | 114 | p: 150.0 | ||
| 487 | 115 | sh_lfj5_mixed_position_velocity_controller: | ||
| 488 | 116 | joint: LFJ5 | ||
| 489 | 117 | motor_min_force_threshold: 40 | ||
| 490 | 118 | position_pid: | ||
| 491 | 119 | d: 0.0 | ||
| 492 | 120 | i: -1.5 | ||
| 493 | 121 | i_clamp: 0.3 | ||
| 494 | 122 | max_velocity: 1.5 | ||
| 495 | 123 | min_velocity: -1.5 | ||
| 496 | 124 | p: -4.0 | ||
| 497 | 125 | position_deadband: 0.003 | ||
| 498 | 126 | type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController | ||
| 499 | 127 | velocity_pid: | ||
| 500 | 128 | d: 0.0 | ||
| 501 | 129 | friction_deadband: 5000.0 | ||
| 502 | 130 | i: -210.0 | ||
| 503 | 131 | i_clamp: 410.0 | ||
| 504 | 132 | max_force: 0.0 | ||
| 505 | 133 | p: -150.0 | ||
| 506 | 134 | sh_mfj0_mixed_position_velocity_controller: | ||
| 507 | 135 | joint: MFJ0 | ||
| 508 | 136 | motor_min_force_threshold: 40 | ||
| 509 | 137 | position_pid: | ||
| 510 | 138 | d: 0.0 | ||
| 511 | 139 | i: -1.5 | ||
| 512 | 140 | i_clamp: 0.3 | ||
| 513 | 141 | max_velocity: 3.0 | ||
| 514 | 142 | min_velocity: -3.0 | ||
| 515 | 143 | p: -4.0 | ||
| 516 | 144 | position_deadband: 0.002 | ||
| 517 | 145 | type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController | ||
| 518 | 146 | velocity_pid: | ||
| 519 | 147 | d: 0.0 | ||
| 520 | 148 | friction_deadband: 100.0 | ||
| 521 | 149 | i: 210.0 | ||
| 522 | 150 | i_clamp: 160.0 | ||
| 523 | 151 | max_force: 0.0 | ||
| 524 | 152 | p: 150.0 | ||
| 525 | 153 | sh_mfj3_mixed_position_velocity_controller: | ||
| 526 | 154 | joint: MFJ3 | ||
| 527 | 155 | motor_min_force_threshold: 40 | ||
| 528 | 156 | position_pid: | ||
| 529 | 157 | d: 0.0 | ||
| 530 | 158 | i: -1.5 | ||
| 531 | 159 | i_clamp: 0.3 | ||
| 532 | 160 | max_velocity: 1.5 | ||
| 533 | 161 | min_velocity: -1.5 | ||
| 534 | 162 | p: -4.0 | ||
| 535 | 163 | position_deadband: 0.002 | ||
| 536 | 164 | type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController | ||
| 537 | 165 | velocity_pid: | ||
| 538 | 166 | d: 0.0 | ||
| 539 | 167 | friction_deadband: 100.0 | ||
| 540 | 168 | i: 210.0 | ||
| 541 | 169 | i_clamp: 160.0 | ||
| 542 | 170 | max_force: 0.0 | ||
| 543 | 171 | p: 150.0 | ||
| 544 | 172 | sh_mfj4_mixed_position_velocity_controller: | ||
| 545 | 173 | joint: MFJ4 | ||
| 546 | 174 | motor_min_force_threshold: 40 | ||
| 547 | 175 | position_pid: | ||
| 548 | 176 | d: 0.0 | ||
| 549 | 177 | i: -1.5 | ||
| 550 | 178 | i_clamp: 0.3 | ||
| 551 | 179 | max_velocity: 1.5 | ||
| 552 | 180 | min_velocity: -1.5 | ||
| 553 | 181 | p: -4.0 | ||
| 554 | 182 | position_deadband: 0.003 | ||
| 555 | 183 | type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController | ||
| 556 | 184 | velocity_pid: | ||
| 557 | 185 | d: 0.0 | ||
| 558 | 186 | friction_deadband: 5000.0 | ||
| 559 | 187 | i: -210.0 | ||
| 560 | 188 | i_clamp: 160.0 | ||
| 561 | 189 | max_force: 0.0 | ||
| 562 | 190 | p: -150.0 | ||
| 563 | 191 | sh_rfj0_mixed_position_velocity_controller: | ||
| 564 | 192 | joint: RFJ0 | ||
| 565 | 193 | motor_min_force_threshold: 40 | ||
| 566 | 194 | position_pid: | ||
| 567 | 195 | d: 0.0 | ||
| 568 | 196 | i: -1.5 | ||
| 569 | 197 | i_clamp: 0.3 | ||
| 570 | 198 | max_velocity: 3.0 | ||
| 571 | 199 | min_velocity: -3.0 | ||
| 572 | 200 | p: -4.0 | ||
| 573 | 201 | position_deadband: 0.002 | ||
| 574 | 202 | type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController | ||
| 575 | 203 | velocity_pid: | ||
| 576 | 204 | d: 0.0 | ||
| 577 | 205 | friction_deadband: 100.0 | ||
| 578 | 206 | i: -210.0 | ||
| 579 | 207 | i_clamp: 160.0 | ||
| 580 | 208 | max_force: 0.0 | ||
| 581 | 209 | p: -150.0 | ||
| 582 | 210 | sh_rfj3_mixed_position_velocity_controller: | ||
| 583 | 211 | joint: RFJ3 | ||
| 584 | 212 | motor_min_force_threshold: 40 | ||
| 585 | 213 | position_pid: | ||
| 586 | 214 | d: 0.0 | ||
| 587 | 215 | i: -1.5 | ||
| 588 | 216 | i_clamp: 0.3 | ||
| 589 | 217 | max_velocity: 1.5 | ||
| 590 | 218 | min_velocity: -1.5 | ||
| 591 | 219 | p: -4.0 | ||
| 592 | 220 | position_deadband: 0.002 | ||
| 593 | 221 | type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController | ||
| 594 | 222 | velocity_pid: | ||
| 595 | 223 | d: 0.0 | ||
| 596 | 224 | friction_deadband: 100.0 | ||
| 597 | 225 | i: -210.0 | ||
| 598 | 226 | i_clamp: 160.0 | ||
| 599 | 227 | max_force: 0.0 | ||
| 600 | 228 | p: -150.0 | ||
| 601 | 229 | sh_rfj4_mixed_position_velocity_controller: | ||
| 602 | 230 | joint: RFJ4 | ||
| 603 | 231 | motor_min_force_threshold: 40 | ||
| 604 | 232 | position_pid: | ||
| 605 | 233 | d: 0.0 | ||
| 606 | 234 | i: -1.5 | ||
| 607 | 235 | i_clamp: 0.3 | ||
| 608 | 236 | max_velocity: 1.5 | ||
| 609 | 237 | min_velocity: -1.5 | ||
| 610 | 238 | p: -4.0 | ||
| 611 | 239 | position_deadband: 0.003 | ||
| 612 | 240 | type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController | ||
| 613 | 241 | velocity_pid: | ||
| 614 | 242 | d: 0.0 | ||
| 615 | 243 | friction_deadband: 5000.0 | ||
| 616 | 244 | i: -210.0 | ||
| 617 | 245 | i_clamp: 160.0 | ||
| 618 | 246 | max_force: 0.0 | ||
| 619 | 247 | p: -150.0 | ||
| 620 | 248 | sh_thj1_mixed_position_velocity_controller: | ||
| 621 | 249 | joint: THJ1 | ||
| 622 | 250 | motor_min_force_threshold: 40 | ||
| 623 | 251 | position_pid: | ||
| 624 | 252 | d: 0.0 | ||
| 625 | 253 | i: -1.5 | ||
| 626 | 254 | i_clamp: 0.3 | ||
| 627 | 255 | max_velocity: 3.0 | ||
| 628 | 256 | min_velocity: -3.0 | ||
| 629 | 257 | p: -4.0 | ||
| 630 | 258 | position_deadband: 0.002 | ||
| 631 | 259 | type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController | ||
| 632 | 260 | velocity_pid: | ||
| 633 | 261 | d: 0.0 | ||
| 634 | 262 | friction_deadband: 100.0 | ||
| 635 | 263 | i: 210.0 | ||
| 636 | 264 | i_clamp: 160.0 | ||
| 637 | 265 | max_force: 0.0 | ||
| 638 | 266 | p: 150.0 | ||
| 639 | 267 | sh_thj2_mixed_position_velocity_controller: | ||
| 640 | 268 | joint: THJ2 | ||
| 641 | 269 | motor_min_force_threshold: 40 | ||
| 642 | 270 | position_pid: | ||
| 643 | 271 | d: 0.0 | ||
| 644 | 272 | i: -1.5 | ||
| 645 | 273 | i_clamp: 0.3 | ||
| 646 | 274 | max_velocity: 3.0 | ||
| 647 | 275 | min_velocity: -3.0 | ||
| 648 | 276 | p: -4.0 | ||
| 649 | 277 | position_deadband: 0.002 | ||
| 650 | 278 | type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController | ||
| 651 | 279 | velocity_pid: | ||
| 652 | 280 | d: 0.0 | ||
| 653 | 281 | friction_deadband: 100.0 | ||
| 654 | 282 | i: 210.0 | ||
| 655 | 283 | i_clamp: 160.0 | ||
| 656 | 284 | max_force: 0.0 | ||
| 657 | 285 | p: 150.0 | ||
| 658 | 286 | sh_thj3_mixed_position_velocity_controller: | ||
| 659 | 287 | joint: THJ3 | ||
| 660 | 288 | motor_min_force_threshold: 40 | ||
| 661 | 289 | position_pid: | ||
| 662 | 290 | d: 0.0 | ||
| 663 | 291 | i: -1.5 | ||
| 664 | 292 | i_clamp: 0.3 | ||
| 665 | 293 | max_velocity: 1.5 | ||
| 666 | 294 | min_velocity: -1.5 | ||
| 667 | 295 | p: -4.0 | ||
| 668 | 296 | position_deadband: 0.002 | ||
| 669 | 297 | type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController | ||
| 670 | 298 | velocity_pid: | ||
| 671 | 299 | d: 0.0 | ||
| 672 | 300 | friction_deadband: 100.0 | ||
| 673 | 301 | i: 210.0 | ||
| 674 | 302 | i_clamp: 160.0 | ||
| 675 | 303 | max_force: 0.0 | ||
| 676 | 304 | p: 150.0 | ||
| 677 | 305 | sh_thj4_mixed_position_velocity_controller: | ||
| 678 | 306 | joint: THJ4 | ||
| 679 | 307 | motor_min_force_threshold: 40 | ||
| 680 | 308 | position_pid: | ||
| 681 | 309 | d: 0.0 | ||
| 682 | 310 | i: -1.5 | ||
| 683 | 311 | i_clamp: 0.3 | ||
| 684 | 312 | max_velocity: 1.5 | ||
| 685 | 313 | min_velocity: -1.5 | ||
| 686 | 314 | p: -4.0 | ||
| 687 | 315 | position_deadband: 0.003 | ||
| 688 | 316 | type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController | ||
| 689 | 317 | velocity_pid: | ||
| 690 | 318 | d: 0.0 | ||
| 691 | 319 | friction_deadband: 5000.0 | ||
| 692 | 320 | i: -260.0 | ||
| 693 | 321 | i_clamp: 180.0 | ||
| 694 | 322 | max_force: 0.0 | ||
| 695 | 323 | p: -210.0 | ||
| 696 | 324 | sh_thj5_mixed_position_velocity_controller: | ||
| 697 | 325 | joint: THJ5 | ||
| 698 | 326 | motor_min_force_threshold: 40 | ||
| 699 | 327 | position_pid: | ||
| 700 | 328 | d: 0.0 | ||
| 701 | 329 | i: -1.5 | ||
| 702 | 330 | i_clamp: 0.3 | ||
| 703 | 331 | max_velocity: 1.5 | ||
| 704 | 332 | min_velocity: -1.5 | ||
| 705 | 333 | p: -4.0 | ||
| 706 | 334 | position_deadband: 0.003 | ||
| 707 | 335 | type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController | ||
| 708 | 336 | velocity_pid: | ||
| 709 | 337 | d: 0.0 | ||
| 710 | 338 | friction_deadband: 5000.0 | ||
| 711 | 339 | i: 210.0 | ||
| 712 | 340 | i_clamp: 160.0 | ||
| 713 | 341 | max_force: 0.0 | ||
| 714 | 342 | p: 150.0 | ||
| 715 | 343 | sh_wrj1_mixed_position_velocity_controller: | ||
| 716 | 344 | joint: WRJ1 | ||
| 717 | 345 | motor_min_force_threshold: 40 | ||
| 718 | 346 | position_pid: | ||
| 719 | 347 | d: 0.0 | ||
| 720 | 348 | i: -1.5 | ||
| 721 | 349 | i_clamp: 0.3 | ||
| 722 | 350 | max_velocity: 0.5 | ||
| 723 | 351 | min_velocity: -0.5 | ||
| 724 | 352 | p: -4.0 | ||
| 725 | 353 | position_deadband: 0.002 | ||
| 726 | 354 | type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController | ||
| 727 | 355 | velocity_pid: | ||
| 728 | 356 | d: 0.0 | ||
| 729 | 357 | friction_deadband: 100.0 | ||
| 730 | 358 | i: 460.0 | ||
| 731 | 359 | i_clamp: 270.0 | ||
| 732 | 360 | max_force: 0.0 | ||
| 733 | 361 | p: 320.0 | ||
| 734 | 362 | sh_wrj2_mixed_position_velocity_controller: | ||
| 735 | 363 | joint: WRJ2 | ||
| 736 | 364 | motor_min_force_threshold: 40 | ||
| 737 | 365 | position_pid: | ||
| 738 | 366 | d: 0.0 | ||
| 739 | 367 | i: -1.5 | ||
| 740 | 368 | i_clamp: 0.3 | ||
| 741 | 369 | max_velocity: 0.5 | ||
| 742 | 370 | min_velocity: -0.5 | ||
| 743 | 371 | p: -4.0 | ||
| 744 | 372 | position_deadband: 0.002 | ||
| 745 | 373 | type: sr_mechanism_controllers/SrhMixedPositionVelocityJointController | ||
| 746 | 374 | velocity_pid: | ||
| 747 | 375 | d: 0.0 | ||
| 748 | 376 | friction_deadband: 100.0 | ||
| 749 | 377 | i: -280.0 | ||
| 750 | 378 | i_clamp: 190.0 | ||
| 751 | 379 | max_force: 0.0 | ||
| 752 | 380 | p: -230.0 | ||
| 753 | 0 | 381 | ||
| 754 | === added file 'sr_ethercat_hand_config/controls/sr_edc_default_controllers.launch' | |||
| 755 | --- sr_ethercat_hand_config/controls/sr_edc_default_controllers.launch 1970-01-01 00:00:00 +0000 | |||
| 756 | +++ sr_ethercat_hand_config/controls/sr_edc_default_controllers.launch 2012-10-30 14:29:21 +0000 | |||
| 757 | @@ -0,0 +1,20 @@ | |||
| 758 | 1 | <launch> | ||
| 759 | 2 | <!-- <rosparam command="load" file="$(find sr_ethercat_hand_config)/controls/motors/motor_board_effort_controllers_stopped.yaml" /> --> | ||
| 760 | 3 | <!-- <rosparam command="load" file="$(find sr_ethercat_hand_config)/controls/motors/motor_board_effort_controllers_ff_and_th.yaml" /> --> | ||
| 761 | 4 | <rosparam command="load" file="$(find sr_ethercat_hand_config)/controls/motors/motor_board_effort_controllers.yaml" /> | ||
| 762 | 5 | <rosparam command="load" file="$(find sr_ethercat_hand_config)/controls/friction_compensation.yaml" /> | ||
| 763 | 6 | |||
| 764 | 7 | <!-- Parameters for the controllers if we're using torque control mode, i.e. sending force commands to | ||
| 765 | 8 | the force control loop in the motor board (that uses the data from the tendon strain gauges) --> | ||
| 766 | 9 | <rosparam unless="$(optenv PWM_CONTROL 0)" command="load" file="$(find sr_ethercat_hand_config)/controls/host/sr_edc_effort_controllers.yaml" /> | ||
| 767 | 10 | <rosparam unless="$(optenv PWM_CONTROL 0)" command="load" file="$(find sr_ethercat_hand_config)/controls/host/sr_edc_joint_position_controllers.yaml" /> | ||
| 768 | 11 | <rosparam unless="$(optenv PWM_CONTROL 0)" command="load" file="$(find sr_ethercat_hand_config)/controls/host/sr_edc_mixed_position_velocity_joint_controllers.yaml" /> | ||
| 769 | 12 | <rosparam unless="$(optenv PWM_CONTROL 0)" command="load" file="$(find sr_ethercat_hand_config)/controls/host/sr_edc_joint_velocity_controllers.yaml" /> | ||
| 770 | 13 | |||
| 771 | 14 | <!-- Parameters for the controllers if we're using PWM control mode, i.e. sending direct PWM commands from the host to the motor, | ||
| 772 | 15 | WITHOUT using the force control loop in the motor board (that uses the data from the tendon strain gauges) --> | ||
| 773 | 16 | <rosparam if="$(optenv PWM_CONTROL 0)" command="load" file="$(find sr_ethercat_hand_config)/controls/host/sr_edc_effort_controllers_PWM.yaml" /> | ||
| 774 | 17 | <rosparam if="$(optenv PWM_CONTROL 0)" command="load" file="$(find sr_ethercat_hand_config)/controls/host/sr_edc_joint_position_controllers_PWM.yaml" /> | ||
| 775 | 18 | <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" /> | ||
| 776 | 19 | <rosparam if="$(optenv PWM_CONTROL 0)" command="load" file="$(find sr_ethercat_hand_config)/controls/host/sr_edc_joint_velocity_controllers_PWM.yaml" /> | ||
| 777 | 20 | </launch> | ||
