From b956efb4d5b08b8fc152d4b7af49ee7c31ede79e Mon Sep 17 00:00:00 2001
From: Hilario Tome <hilario.tome@pal-robotics.com>
Date: Wed, 9 Nov 2016 16:03:57 +0100
Subject: [PATCH] Head talos finally working hardware, added wrists ft to pal
hardware
---
talos_bringup/config/talos_full_hardware.yaml | 18 ++++++++++++++++++
talos_description/urdf/head/head.urdf.xacro | 2 +-
2 files changed, 19 insertions(+), 1 deletion(-)
diff --git a/talos_bringup/config/talos_full_hardware.yaml b/talos_bringup/config/talos_full_hardware.yaml
index 127342b..f65bf22 100644
--- a/talos_bringup/config/talos_full_hardware.yaml
+++ b/talos_bringup/config/talos_full_hardware.yaml
@@ -9,6 +9,8 @@ actuators:
mode_cmd_port: ref_control_mode
absolute_encoder_position_port: act_abs_position
torque_sensor_port: act_torque
+ temperature_sensor_port: act_temperature
+
e_stop:
raw_data:
@@ -31,6 +33,22 @@ force_torque:
raw_data:
force_port: force_ankle_right
torque_port: torque_ankle_right
+ left_wrist_ft:
+ frame: wrist_left_ft_link
+ transformation:
+ force: [x, y, z]
+ torque: [x, y, z]
+ raw_data:
+ force_port: force_wrist_left
+ torque_port: torque_wrist_left
+ right_wrist_ft:
+ frame: wrist_right_ft_link
+ transformation:
+ force: [x, y, z]
+ torque: [x, y, z]
+ raw_data:
+ force_port: force_wrist_right
+ torque_port: torque_wrist_right
imu:
base_imu:
diff --git a/talos_description/urdf/head/head.urdf.xacro b/talos_description/urdf/head/head.urdf.xacro
index f4dd9c0..85938fd 100644
--- a/talos_description/urdf/head/head.urdf.xacro
+++ b/talos_description/urdf/head/head.urdf.xacro
@@ -151,7 +151,7 @@
<origin xyz="0 0 0" rpy="${-90 * deg_to_rad} 0 ${-90 * deg_to_rad}"/>
</xacro:xtion_pro_live>
<xacro:talos_head_differential_transmission name="${name}" number1="1" number2="2"
- act_reduction1="1.0" act_reduction2="-1.0"
+ act_reduction1="1.0" act_reduction2="1.0"
jnt_reduction1="1.0" jnt_reduction2="2.0" />
</xacro:macro>
--
GitLab