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Paul Rouanet
ros2_control_bolt
Commits
bfb70066
Commit
bfb70066
authored
Jul 22, 2021
by
Paul Rouanet
Browse files
Add state interface kp and kd
parent
d7be1dc6
Changes
1
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ros2_description_bolt/urdf/bolt/ros2_control/system_bolt.ros2_control.xacro
View file @
bfb70066
...
...
@@ -45,6 +45,8 @@
<state_interface
name=
"position"
/>
<state_interface
name=
"velocity"
/>
<state_interface
name=
"acceleration"
/>
<state_interface
name=
"kp"
/>
<state_interface
name=
"kd"
/>
<param
name=
"motor_number"
>
0
</param>
<param
name=
"gear_ratio"
>
9.
</param>
<param
name=
"motor_constant"
>
0.025
</param>
...
...
@@ -71,7 +73,9 @@
<command_interface
name=
"kd"
/>
<state_interface
name=
"position"
/>
<state_interface
name=
"velocity"
/>
<state_interface
name=
"acceleration"
/>
*
<state_interface
name=
"acceleration"
/>
<state_interface
name=
"kp"
/>
<state_interface
name=
"kd"
/>
<param
name=
"motor_number"
>
3
</param>
<param
name=
"gear_ratio"
>
9.
</param>
<param
name=
"motor_constant"
>
0.025
</param>
...
...
@@ -99,6 +103,8 @@
<state_interface
name=
"position"
/>
<state_interface
name=
"velocity"
/>
<state_interface
name=
"acceleration"
/>
<state_interface
name=
"kp"
/>
<state_interface
name=
"kd"
/>
<param
name=
"motor_number"
>
2
</param>
<param
name=
"gear_ratio"
>
9.
</param>
<param
name=
"motor_constant"
>
0.025
</param>
...
...
@@ -126,6 +132,8 @@
<state_interface
name=
"position"
/>
<state_interface
name=
"velocity"
/>
<state_interface
name=
"acceleration"
/>
<state_interface
name=
"kp"
/>
<state_interface
name=
"kd"
/>
<param
name=
"motor_number"
>
1
</param>
<param
name=
"gear_ratio"
>
9.
</param>
<param
name=
"motor_constant"
>
0.025
</param>
...
...
@@ -153,6 +161,8 @@
<state_interface
name=
"position"
/>
<state_interface
name=
"velocity"
/>
<state_interface
name=
"acceleration"
/>
<state_interface
name=
"kp"
/>
<state_interface
name=
"kd"
/>
<param
name=
"motor_number"
>
5
</param>
<param
name=
"gear_ratio"
>
9.
</param>
<param
name=
"motor_constant"
>
0.025
</param>
...
...
@@ -176,6 +186,8 @@
<state_interface
name=
"position"
/>
<state_interface
name=
"velocity"
/>
<state_interface
name=
"acceleration"
/>
<state_interface
name=
"kp"
/>
<state_interface
name=
"kd"
/>
<param
name=
"motor_number"
>
4
</param>
<param
name=
"gear_ratio"
>
9.
</param>
<param
name=
"motor_constant"
>
0.025
</param>
...
...
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