Moved the files from talos walking to talos controller configuration

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>
   

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"

talos_controller_configuration/config/offsets.yaml

+{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}

talos_controller_configuration/config/walk_poses.yaml

+# 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
+

talos_controller_configuration/config/walking_controller.yaml

+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

talos_controller_configuration/config/walking_params.yaml

+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

talos_controller_configuration/launch/default_controllers.launch

 <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" />
   

talos_controller_configuration/launch/init_offset_controller.launch

+<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>
+

talos_controller_configuration/launch/walking_controller.launch

+<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>
+

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>