From 036f09bd482ace365d31e761daf8ffdf9ab5ff20 Mon Sep 17 00:00:00 2001
From: Hilario Tome <hilario.tome@pal-robotics.com>
Date: Thu, 10 Nov 2016 18:16:10 +0100
Subject: [PATCH] Moved the files from talos walking to talos controller
configuration
---
talos_bringup/package.xml | 10 +++++
.../config/init_offset_controller.yaml | 12 +++++-
.../config/offsets.yaml | 4 ++
.../config/walk_poses.yaml | 41 +++++++++++++++++++
.../config/walking_controller.yaml | 33 +++++++++++++++
.../config/walking_params.yaml | 39 ++++++++++++++++++
.../launch/default_controllers.launch | 2 +-
.../launch/init_offset_controller.launch | 12 ++++++
.../launch/walking_controller.launch | 14 +++++++
talos_controller_configuration/package.xml | 1 +
10 files changed, 166 insertions(+), 2 deletions(-)
create mode 100644 talos_controller_configuration/config/offsets.yaml
create mode 100644 talos_controller_configuration/config/walk_poses.yaml
create mode 100644 talos_controller_configuration/config/walking_controller.yaml
create mode 100644 talos_controller_configuration/config/walking_params.yaml
create mode 100644 talos_controller_configuration/launch/init_offset_controller.launch
create mode 100644 talos_controller_configuration/launch/walking_controller.launch
diff --git a/talos_bringup/package.xml b/talos_bringup/package.xml
index ee66770..717517e 100644
--- a/talos_bringup/package.xml
+++ b/talos_bringup/package.xml
@@ -10,6 +10,16 @@
<buildtool_depend>catkin</buildtool_depend>
+ <run_depend>talos_controller_configuration</run_depend>
+ <run_depend>talos_description</run_depend>
+ <run_depend>robot_state_publisher</run_depend>
+ <run_depend>tf_lookup</run_depend>
+ <run_depend>twist_mux</run_depend>
+ <run_depend>joy</run_depend>
+ <run_depend>joy_teleop</run_depend>
+ <run_depend>play_motion</run_depend>
+ <run_depend>talos_moveit_config</run_depend>
+
<export>
</export>
diff --git a/talos_controller_configuration/config/init_offset_controller.yaml b/talos_controller_configuration/config/init_offset_controller.yaml
index 3ac7355..02cef75 100644
--- a/talos_controller_configuration/config/init_offset_controller.yaml
+++ b/talos_controller_configuration/config/init_offset_controller.yaml
@@ -13,7 +13,17 @@ init_offset_controller:
- leg_right_4_joint
- leg_right_5_joint
- leg_right_6_joint
-
left_ft_sensor: left_ankle_ft
right_ft_sensor: right_ankle_ft
base_imu_sensor: base_imu
+
+ hip_spacing_x: -0.03
+ hip_spacing_y: 0.08
+ hip_spacing_z: 0.0
+
+ femur_length: 0.380
+ tibia_length: 0.320
+ foot_height: 0.107
+ ft_sensor_z: 0.02
+
+ config_folder: "$HOME/.pal/init_offset_controller/config"
diff --git a/talos_controller_configuration/config/offsets.yaml b/talos_controller_configuration/config/offsets.yaml
new file mode 100644
index 0000000..3aa0449
--- /dev/null
+++ b/talos_controller_configuration/config/offsets.yaml
@@ -0,0 +1,4 @@
+{leg_left_1_joint: 0.0, leg_left_2_joint: -0.01020865572279723, leg_left_3_joint: -0.05758404462002641,
+ leg_left_4_joint: 0.0, leg_left_5_joint: 0.05922924786310778, leg_left_6_joint: 0.01595601924646576,
+ leg_right_1_joint: 0.0, leg_right_2_joint: -0.01020865572279723, leg_right_3_joint: -0.05758404462002641,
+ leg_right_4_joint: 0.0, leg_right_5_joint: 0.05593884137694505, leg_right_6_joint: 0.008005548225255048}
diff --git a/talos_controller_configuration/config/walk_poses.yaml b/talos_controller_configuration/config/walk_poses.yaml
new file mode 100644
index 0000000..4e69bdd
--- /dev/null
+++ b/talos_controller_configuration/config/walk_poses.yaml
@@ -0,0 +1,41 @@
+# Controller to use to move arms while walking. They must expose a FollowJointTrajectory action interface
+walk_pose:
+ controllers:
+ - right_arm_controller
+ - left_arm_controller
+ - head_controller
+ - torso_controller
+
+ joints_rest_pos:
+ - arm_left_1_joint : 0.34
+ - arm_left_2_joint : 0.15
+ - arm_left_3_joint : -0.34
+ - arm_left_4_joint : -1.0
+ - arm_left_5_joint : 0.0
+ - arm_left_6_joint : 0.0
+ - arm_left_7_joint : 0.0
+
+ - arm_right_1_joint: -0.34
+ - arm_right_2_joint: -0.15
+ - arm_right_3_joint: 0.34
+ - arm_right_4_joint: -1.0
+ - arm_right_5_joint: 0.0
+ - arm_right_6_joint: 0.0
+ - arm_right_7_joint: 0.0
+
+ - torso_1_joint: 0.0
+ - torso_2_joint: 0.0
+
+ - head_1_joint: 0.0
+ - head_2_joint: 0.0
+
+ joints_to_move:
+ - arm_left_1_joint: -1.0
+ - arm_left_3_joint: 1.0
+ - arm_left_4_joint: 1.0
+ - arm_right_1_joint: -1.0
+ - arm_right_3_joint: 1.0
+ - arm_right_4_joint: 1.0
+ - torso_2_joint: 0.5
+ - head_2_joint: 0.5
+
diff --git a/talos_controller_configuration/config/walking_controller.yaml b/talos_controller_configuration/config/walking_controller.yaml
new file mode 100644
index 0000000..1e0b93c
--- /dev/null
+++ b/talos_controller_configuration/config/walking_controller.yaml
@@ -0,0 +1,33 @@
+walking_controller:
+ type: walking_controller/ReemcControl
+ joints:
+ - leg_left_1_joint
+ - leg_left_2_joint
+ - leg_left_3_joint
+ - leg_left_4_joint
+ - leg_left_5_joint
+ - leg_left_6_joint
+ - leg_right_1_joint
+ - leg_right_2_joint
+ - leg_right_3_joint
+ - leg_right_4_joint
+ - leg_right_5_joint
+ - leg_right_6_joint
+ left_ft_sensor: left_ankle_ft
+ right_ft_sensor: right_ankle_ft
+ base_imu_sensor: base_imu
+ check_mode: True
+
+ actuators:
+ - leg_left_1_motor
+ - leg_left_2_motor
+ - leg_left_3_motor
+ - leg_left_4_motor
+ - leg_left_5_motor
+ - leg_left_6_motor
+ - leg_right_1_motor
+ - leg_right_2_motor
+ - leg_right_3_motor
+ - leg_right_4_motor
+ - leg_right_5_motor
+ - leg_right_6_motor
diff --git a/talos_controller_configuration/config/walking_params.yaml b/talos_controller_configuration/config/walking_params.yaml
new file mode 100644
index 0000000..2ba0322
--- /dev/null
+++ b/talos_controller_configuration/config/walking_params.yaml
@@ -0,0 +1,39 @@
+loop_counter_factor: -1
+debug_backdoor: true
+
+odometry:
+ enabled : false
+ vel_window_size: 10
+ use_imu_yaw : false
+ publish_rate : 100.0
+
+ pose_covariance_diagonal : [0.001, 0.001, 1000000.0, 0.1, 0.1, 0.1]
+ twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 0.1, 0.1, 0.1]
+
+biped_controller:
+ delta_T: 0.001
+ ft_sensor_z: 0.02
+ variable_joint_offset_hip: -0.6
+ variable_joint_offset_ankle: -0.6
+ swing_foot_z: 0.03
+ z_lipm: 0.86
+
+com_stabilizer:
+ ds_x_p: 0.6
+ ds_y_p: 0.6
+ ss_x_p: 0.4
+ ss_y_p: 0.4
+ dead_zone: 0.01
+ foot_offset_clamp: 0.05
+ hip_offset_x_clamp: 0.05
+ hip_offset_y_clamp: 0.05
+ hip_offset_decay: 0.995
+
+hip_spacing_x: -0.03
+hip_spacing_y: 0.08
+hip_spacing_z: 0.0
+femur_length: 0.380
+tibia_length: 0.320
+foot_height: 0.107
+
+read_absolute_encoders: False
diff --git a/talos_controller_configuration/launch/default_controllers.launch b/talos_controller_configuration/launch/default_controllers.launch
index 76cc67e..4f4bc7b 100644
--- a/talos_controller_configuration/launch/default_controllers.launch
+++ b/talos_controller_configuration/launch/default_controllers.launch
@@ -1,6 +1,6 @@
<launch>
- <include file="$(find talos_walking)/launch/walking_controller.launch" />
+ <include file="$(find talos_controller_configuration)/launch/walking_controller.launch" />
<include file="$(find talos_controller_configuration)/launch/upper_body_position_controllers.launch" />
diff --git a/talos_controller_configuration/launch/init_offset_controller.launch b/talos_controller_configuration/launch/init_offset_controller.launch
new file mode 100644
index 0000000..e69ce7a
--- /dev/null
+++ b/talos_controller_configuration/launch/init_offset_controller.launch
@@ -0,0 +1,12 @@
+<launch>
+
+ <!-- init offset controller configuration -->
+ <rosparam command="load" file="$(find talos_controller_configuration)/config/init_offset_controller.yaml" />
+
+ <!-- Spawn init offset controller -->
+ <node name="init_offset_controller_spawner"
+ pkg="controller_manager" type="spawner" output="screen"
+ args="init_offset_controller --stopped" />
+
+</launch>
+
diff --git a/talos_controller_configuration/launch/walking_controller.launch b/talos_controller_configuration/launch/walking_controller.launch
new file mode 100644
index 0000000..96dc0bc
--- /dev/null
+++ b/talos_controller_configuration/launch/walking_controller.launch
@@ -0,0 +1,14 @@
+<launch>
+
+ <!-- Walking controller configuration -->
+ <rosparam command="load" file="$(find talos_controller_configuration)/config/walking_params.yaml" ns="walking_controller" />
+ <rosparam command="load" file="$(find talos_controller_configuration)/config/walking_controller.yaml" />
+ <rosparam command="load" file="$(find talos_controller_configuration)/config/offsets.yaml" ns="walking_controller/offsets" />
+
+ <!-- Spawn walking controller -->
+ <node name="walking_controller_spawner"
+ pkg="controller_manager" type="spawner" output="screen"
+ args="walking_controller" />
+
+</launch>
+
diff --git a/talos_controller_configuration/package.xml b/talos_controller_configuration/package.xml
index 86de9f3..eb1f68c 100644
--- a/talos_controller_configuration/package.xml
+++ b/talos_controller_configuration/package.xml
@@ -15,6 +15,7 @@
<run_depend>joint_trajectory_controller</run_depend>
<run_depend>controller_manager</run_depend>
<run_depend>joint_state_controller</run_depend>
+ <run_depend>point_head_action</run_depend>
<export>
</export>
--
GitLab