From e10be75d33f89118d705089dc57f75361550642d Mon Sep 17 00:00:00 2001
From: Sam Pfeiffer <sam.pfeiffer@pal-robotics.com>
Date: Mon, 26 Sep 2016 15:49:05 +0200
Subject: [PATCH] Fix gripper controller and add controller launchers for
follow joint trajectory controllers
---
...yaml => joint_trajectory_controllers.yaml} | 0
.../full_body_position_controllers.launch | 29 +++++++++++
.../launch/legs_position_controllers.launch | 11 ++++
.../upper_body_position_controllers.launch | 27 ++++++++++
.../urdf/gripper/gripper.gazebo.xacro | 52 +++++++++++++++++++
.../urdf/gripper/gripper.transmission.xacro | 25 +++++++++
6 files changed, 144 insertions(+)
rename talos_controller_configuration/config/{joint_trajectalosy_controllers.yaml => joint_trajectory_controllers.yaml} (100%)
create mode 100644 talos_controller_configuration/launch/full_body_position_controllers.launch
create mode 100644 talos_controller_configuration/launch/legs_position_controllers.launch
create mode 100644 talos_controller_configuration/launch/upper_body_position_controllers.launch
create mode 100644 talos_description/urdf/gripper/gripper.gazebo.xacro
create mode 100644 talos_description/urdf/gripper/gripper.transmission.xacro
diff --git a/talos_controller_configuration/config/joint_trajectalosy_controllers.yaml b/talos_controller_configuration/config/joint_trajectory_controllers.yaml
similarity index 100%
rename from talos_controller_configuration/config/joint_trajectalosy_controllers.yaml
rename to talos_controller_configuration/config/joint_trajectory_controllers.yaml
diff --git a/talos_controller_configuration/launch/full_body_position_controllers.launch b/talos_controller_configuration/launch/full_body_position_controllers.launch
new file mode 100644
index 0000000..53f34d5
--- /dev/null
+++ b/talos_controller_configuration/launch/full_body_position_controllers.launch
@@ -0,0 +1,29 @@
+<launch>
+
+ <rosparam command="load" file="$(find talos_controller_configuration)/config/joint_trajectory_controllers.yaml" />
+
+ <!-- Spawn upper-body joint trajectory controllers -->
+ <node name="upper_body_controllers_spawner"
+ pkg="controller_manager" type="spawner" output="screen"
+ args="torso_controller
+ head_controller
+ left_arm_controller
+ right_arm_controller
+ left_gripper_controller
+ right_gripper_controller
+ left_leg_controller
+ right_leg_controller" />
+
+ <!-- Point head action -->
+ <group ns="head_controller">
+ <node name="point_head_action" pkg="head_action" type="head_action" output="screen" >
+ <rosparam>
+ pan_link: head_1_link
+ tilt_link: head_2_link
+ success_angle_threshold: 0.01
+ </rosparam>
+ </node>
+ </group>
+
+
+</launch>
diff --git a/talos_controller_configuration/launch/legs_position_controllers.launch b/talos_controller_configuration/launch/legs_position_controllers.launch
new file mode 100644
index 0000000..630ba49
--- /dev/null
+++ b/talos_controller_configuration/launch/legs_position_controllers.launch
@@ -0,0 +1,11 @@
+<launch>
+
+ <rosparam command="load" file="$(find talos_controller_configuration)/config/joint_trajectory_controllers.yaml" />
+
+ <!-- Spawn legs joint trajectory controllers -->
+ <node name="upper_body_controllers_spawner"
+ pkg="controller_manager" type="spawner" output="screen"
+ args="left_leg_controller
+ right_leg_controller" />
+
+</launch>
diff --git a/talos_controller_configuration/launch/upper_body_position_controllers.launch b/talos_controller_configuration/launch/upper_body_position_controllers.launch
new file mode 100644
index 0000000..f2b9dbe
--- /dev/null
+++ b/talos_controller_configuration/launch/upper_body_position_controllers.launch
@@ -0,0 +1,27 @@
+<launch>
+
+ <rosparam command="load" file="$(find talos_controller_configuration)/config/joint_trajectory_controllers.yaml" />
+
+ <!-- Spawn upper-body joint trajectory controllers -->
+ <node name="upper_body_controllers_spawner"
+ pkg="controller_manager" type="spawner" output="screen"
+ args="torso_controller
+ head_controller
+ left_arm_controller
+ right_arm_controller
+ left_gripper_controller
+ right_gripper_controller" />
+
+ <!-- Point head action -->
+ <group ns="head_controller">
+ <node name="point_head_action" pkg="head_action" type="head_action" output="screen" >
+ <rosparam>
+ pan_link: head_1_link
+ tilt_link: head_2_link
+ success_angle_threshold: 0.01
+ </rosparam>
+ </node>
+ </group>
+
+
+</launch>
diff --git a/talos_description/urdf/gripper/gripper.gazebo.xacro b/talos_description/urdf/gripper/gripper.gazebo.xacro
new file mode 100644
index 0000000..5a1f5e1
--- /dev/null
+++ b/talos_description/urdf/gripper/gripper.gazebo.xacro
@@ -0,0 +1,52 @@
+<?xml version="1.0"?>
+<!--
+
+ Copyright (c) 2016, PAL Robotics, S.L.
+ All rights reserved.
+
+ This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+ To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+ Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <!-- MACROS FOR MIMIC JOINTS -->
+ <xacro:macro name="finger_mimics" params="name">
+ <plugin name="mimic_${name}_inner_double_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>${name}_joint</joint>
+ <mimicJoint>${name}_inner_double_joint</mimicJoint>
+ <multiplier>1.0</multiplier>
+ <offset>0.0</offset>
+ <hasPID/>
+ </plugin>
+ <plugin name="mimic_${name}_fingertip_1_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>${name}_joint</joint>
+ <mimicJoint>${name}_fingertip_1_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <hasPID/>
+ </plugin>
+ <plugin name="mimic_${name}_fingertip_2_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>${name}_joint</joint>
+ <mimicJoint>${name}_fingertip_2_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <hasPID/>
+ </plugin>
+ <plugin name="mimic_${name}_motor_single_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>${name}_joint</joint>
+ <mimicJoint>${name}_motor_single_joint</mimicJoint>
+ <multiplier>1.0</multiplier>
+ <offset>0.0</offset>
+ <hasPID/>
+ </plugin>
+ <plugin name="mimic_${name}_fingertip_3_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>${name}_joint</joint>
+ <mimicJoint>${name}_fingertip_3_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <hasPID/>
+ </plugin>
+ </xacro:macro>
+
+</robot>
\ No newline at end of file
diff --git a/talos_description/urdf/gripper/gripper.transmission.xacro b/talos_description/urdf/gripper/gripper.transmission.xacro
new file mode 100644
index 0000000..86e9439
--- /dev/null
+++ b/talos_description/urdf/gripper/gripper.transmission.xacro
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<!--
+
+ Copyright (c) 2011, PAL Robotics, S.L.
+ All rights reserved.
+
+ This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+ To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+ Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <xacro:macro name="gripper_transmission" params="name reduction" >
+ <transmission name="${name}_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="${name}_motor" >
+ <mechanicalReduction>${reduction}</mechanicalReduction>
+ </actuator>
+ <joint name="${name}_joint" >
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ </xacro:macro>
+
+</robot>
\ No newline at end of file
--
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