From d2db979b4f1f898ee08ef674e3de8c0dbb04a81c Mon Sep 17 00:00:00 2001
From: Hilario Tome <hilario.tome@pal-robotics.com>
Date: Thu, 21 Jul 2016 10:46:53 +0200
Subject: [PATCH] Walking hardware tor
---
tor_bringup/config/tor_hardware.yaml | 10 ++++++++--
.../config/init_offset_controller.yaml | 19 +++++++++++++++++++
.../config/joint_trajectory_controllers.yaml | 2 +-
.../launch/tor_homing_controller.launch | 10 ++++++++++
4 files changed, 38 insertions(+), 3 deletions(-)
create mode 100644 tor_controller_configuration/config/init_offset_controller.yaml
create mode 100644 tor_controller_configuration/launch/tor_homing_controller.launch
diff --git a/tor_bringup/config/tor_hardware.yaml b/tor_bringup/config/tor_hardware.yaml
index c0f6e32..7916d06 100644
--- a/tor_bringup/config/tor_hardware.yaml
+++ b/tor_bringup/config/tor_hardware.yaml
@@ -13,13 +13,19 @@ e_stop:
e_stop_port: emergency_stop_state
force_torque:
- left_ft:
+ left_ankle_ft:
frame: leg_left_6_link
+ transformation:
+ force: [x,-y,-z]
+ torque: [x,-y,-z]
raw_data:
force_port: force_ankle_left
torque_port: torque_ankle_left
- right_ft:
+ right_ankle_ft:
frame: leg_right_6_link
+ transformation:
+ force: [x,-y,-z]
+ torque: [x,-y,-z]
raw_data:
force_port: force_ankle_right
torque_port: torque_ankle_right
diff --git a/tor_controller_configuration/config/init_offset_controller.yaml b/tor_controller_configuration/config/init_offset_controller.yaml
new file mode 100644
index 0000000..3ac7355
--- /dev/null
+++ b/tor_controller_configuration/config/init_offset_controller.yaml
@@ -0,0 +1,19 @@
+init_offset_controller:
+ type: reemc_controllers/ReemcInitOffsetController
+ 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
diff --git a/tor_controller_configuration/config/joint_trajectory_controllers.yaml b/tor_controller_configuration/config/joint_trajectory_controllers.yaml
index fbdd8e0..82efac7 100644
--- a/tor_controller_configuration/config/joint_trajectory_controllers.yaml
+++ b/tor_controller_configuration/config/joint_trajectory_controllers.yaml
@@ -9,7 +9,7 @@ left_leg_controller:
- leg_left_6_joint
constraints:
goal_time: &goal_time_constraint 0.6
- stopped_velocity_tolerance: *stopped_velocity_constraint
+ stopped_velocity_tolerance: &stopped_velocity_constraint 0.05
arm_left_1_joint:
goal: &goal_pos_constraint 0.02
arm_left_2_joint:
diff --git a/tor_controller_configuration/launch/tor_homing_controller.launch b/tor_controller_configuration/launch/tor_homing_controller.launch
new file mode 100644
index 0000000..693554f
--- /dev/null
+++ b/tor_controller_configuration/launch/tor_homing_controller.launch
@@ -0,0 +1,10 @@
+<launch>
+
+ <rosparam command="load" file="$(find tor_controller_configuration)/config/homing_controller.yaml" />
+
+ <!-- Controllers that come up started -->
+ <node name="controllers_spawner"
+ pkg="controller_manager" type="spawner" output="screen"
+ args="homing_controller" />
+
+</launch>
--
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