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ros controllers

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Mar 3rd, 2022
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  1. # Simulation settings for using moveit_sim_controllers
  2. moveit_sim_hw_interface:
  3. joint_model_group: arm1
  4. joint_model_group_pose: arm1up
  5. # Settings for ros_control_boilerplate control loop
  6. generic_hw_control_loop:
  7. loop_hz: 300
  8. cycle_time_error_threshold: 0.01
  9. # Settings for ros_control hardware interface
  10. hardware_interface:
  11. joints:
  12. - panda_1_joint1
  13. - panda_1_joint2
  14. - panda_1_joint3
  15. - panda_1_joint4
  16. - panda_1_joint5
  17. - panda_1_joint6
  18. - panda_1_joint7
  19. - panda_1_finger_joint1
  20. - robot2_shoulder_pan_joint
  21. - robot2_shoulder_lift_joint
  22. - robot2_elbow_joint
  23. - robot2_wrist_1_joint
  24. - robot2_wrist_2_joint
  25. - robot2_wrist_3_joint
  26. - left2_gripper_joint
  27. - right2_gripper_joint
  28. - robot3_shoulder_pan_joint
  29. - robot3_shoulder_lift_joint
  30. - robot3_elbow_joint
  31. - robot3_wrist_1_joint
  32. - robot3_wrist_2_joint
  33. - robot3_wrist_3_joint
  34. - left3_gripper_joint
  35. - right_gripper_joint
  36. sim_control_mode: 1 # 0: position, 1: velocity
  37. # Publish all joint states
  38. # Creates the /joint_states topic necessary in ROS
  39. joint_state_controller:
  40. type: joint_state_controller/JointStateController
  41. publish_rate: 50
  42. controller_list:
  43. - name: arm1_controller
  44. action_ns: follow_joint_trajectory
  45. default: True
  46. type: FollowJointTrajectory
  47. joints:
  48. - panda_1_joint1
  49. - panda_1_joint2
  50. - panda_1_joint3
  51. - panda_1_joint4
  52. - panda_1_joint5
  53. - panda_1_joint6
  54. - panda_1_joint7
  55. - name: arm1_hand_controller
  56. action_ns: follow_joint_trajectory
  57. default: True
  58. type: FollowJointTrajectory
  59. joints:
  60. - panda_1_finger_joint1
  61. - panda_1_finger_joint2
  62. - name: arm2_controller
  63. action_ns: follow_joint_trajectory
  64. default: True
  65. type: FollowJointTrajectory
  66. joints:
  67. - robot2_shoulder_pan_joint
  68. - robot2_shoulder_lift_joint
  69. - robot2_elbow_joint
  70. - robot2_wrist_1_joint
  71. - robot2_wrist_2_joint
  72. - robot2_wrist_3_joint
  73. - name: arm2_hand_controller
  74. action_ns: follow_joint_trajectory
  75. default: True
  76. type: FollowJointTrajectory
  77. joints:
  78. - left2_gripper_joint
  79. - right2_gripper_joint
  80. - name: arm3_controller
  81. action_ns: follow_joint_trajectory
  82. default: True
  83. type: FollowJointTrajectory
  84. joints:
  85. - robot3_shoulder_pan_joint
  86. - robot3_shoulder_lift_joint
  87. - robot3_elbow_joint
  88. - robot3_wrist_1_joint
  89. - robot3_wrist_2_joint
  90. - robot3_wrist_3_joint
  91. - name: arm3_hand_controller
  92. action_ns: follow_joint_trajectory
  93. default: True
  94. type: FollowJointTrajectory
  95. joints:
  96. - left3_gripper_joint
  97. - right_gripper_joint
  98. arm1_controller:
  99. type: effort_controllers/JointTrajectoryController
  100. joints:
  101. - panda_1_joint1
  102. - panda_1_joint2
  103. - panda_1_joint3
  104. - panda_1_joint4
  105. - panda_1_joint5
  106. - panda_1_joint6
  107. - panda_1_joint7
  108. gains:
  109. panda_1_joint1:
  110. p: 19000
  111. d: 10
  112. i: 1
  113. i_clamp: 1
  114. panda_1_joint2:
  115. p: 19000
  116. d: 10
  117. i: 1
  118. i_clamp: 1
  119. panda_1_joint3:
  120. p: 19000
  121. d: 10
  122. i: 1
  123. i_clamp: 1
  124. panda_1_joint4:
  125. p: 19000
  126. d: 10
  127. i: 1
  128. i_clamp: 1
  129. panda_1_joint5:
  130. p: 12000
  131. d: 10
  132. i: 1
  133. i_clamp: 1
  134. panda_1_joint6:
  135. p: 10000
  136. d: 10
  137. i: 1
  138. i_clamp: 1
  139. panda_1_joint7:
  140. p: 8000
  141. d: 10
  142. i: 1
  143. i_clamp: 1
  144. arm1_hand_controller:
  145. type: effort_controllers/JointTrajectoryController
  146. joints:
  147. - panda_1_finger_joint1
  148. - panda_1_finger_joint2
  149. gains:
  150. panda_1_finger_joint1:
  151. p: 100
  152. d: 1
  153. i: 1
  154. i_clamp: 1
  155. panda_1_finger_joint2:
  156. p: 100
  157. d: 1
  158. i: 1
  159. i_clamp: 1
  160. arm2_controller:
  161. type: effort_controllers/JointTrajectoryController
  162. joints:
  163. - robot2_shoulder_pan_joint
  164. - robot2_shoulder_lift_joint
  165. - robot2_elbow_joint
  166. - robot2_wrist_1_joint
  167. - robot2_wrist_2_joint
  168. - robot2_wrist_3_joint
  169. gains:
  170. robot2_shoulder_pan_joint:
  171. p: 19000
  172. d: 10
  173. i: 1
  174. i_clamp: 1
  175. robot2_shoulder_lift_joint:
  176. p: 19000
  177. d: 10
  178. i: 1
  179. i_clamp: 1
  180. robot2_elbow_joint:
  181. p: 19000
  182. d: 10
  183. i: 1
  184. i_clamp: 1
  185. robot2_wrist_1_joint:
  186. p: 12000
  187. d: 10
  188. i: 1
  189. i_clamp: 1
  190. robot2_wrist_2_joint:
  191. p: 10000
  192. d: 10
  193. i: 1
  194. i_clamp: 1
  195. robot2_wrist_3_joint:
  196. p: 8000
  197. d: 100
  198. i: 1
  199. i_clamp: 1
  200. arm2_hand_controller:
  201. type: effort_controllers/JointTrajectoryController
  202. joints:
  203. - left2_gripper_joint
  204. - right2_gripper_joint
  205. gains:
  206. left2_gripper_joint:
  207. p: 100
  208. d: 1
  209. i: 1
  210. i_clamp: 1
  211. right2_gripper_joint:
  212. p: 100
  213. d: 1
  214. i: 1
  215. i_clamp: 1
  216. arm3_controller:
  217. type: effort_controllers/JointTrajectoryController
  218. joints:
  219. - robot3_shoulder_pan_joint
  220. - robot3_shoulder_lift_joint
  221. - robot3_elbow_joint
  222. - robot3_wrist_1_joint
  223. - robot3_wrist_2_joint
  224. - robot3_wrist_3_joint
  225. gains:
  226. robot3_shoulder_pan_joint:
  227. p: 19000
  228. d: 1
  229. i: 1
  230. i_clamp: 1
  231. robot3_shoulder_lift_joint:
  232. p: 19000
  233. d: 1
  234. i: 1
  235. i_clamp: 1
  236. robot3_elbow_joint:
  237. p: 19000
  238. d: 1
  239. i: 1
  240. i_clamp: 1
  241. robot3_wrist_1_joint:
  242. p: 12000
  243. d: 1
  244. i: 1
  245. i_clamp: 1
  246. robot3_wrist_2_joint:
  247. p: 10000
  248. d: 1
  249. i: 1
  250. i_clamp: 1
  251. robot3_wrist_3_joint:
  252. p: 8000
  253. d: 1
  254. i: 1
  255. i_clamp: 1
  256. arm3_hand_controller:
  257. type: effort_controllers/JointTrajectoryController
  258. joints:
  259. - left3_gripper_joint
  260. - right_gripper_joint
  261. gains:
  262. left3_gripper_joint:
  263. p: 100
  264. d: 1
  265. i: 1
  266. i_clamp: 1
  267. right_gripper_joint:
  268. p: 100
  269. d: 1
  270. i: 1
  271. i_clamp: 1
  272.  
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