From fac5aa974f042987b14d2cf0ffe5f643205e3752 Mon Sep 17 00:00:00 2001
From: Hilario Tome <hilario.tome@pal-robotics.com>
Date: Mon, 24 Oct 2016 12:01:28 +0200
Subject: [PATCH] Changed head differential, default controllers stopped
---
talos_bringup/launch/talos_preload_libraries.launch | 10 ++++++++++
.../launch/full_body_position_controllers.launch | 2 +-
talos_description/robots/talos_full.urdf.xacro | 4 ++--
talos_description/urdf/head/head.transmission.xacro | 2 +-
4 files changed, 14 insertions(+), 4 deletions(-)
create mode 100644 talos_bringup/launch/talos_preload_libraries.launch
diff --git a/talos_bringup/launch/talos_preload_libraries.launch b/talos_bringup/launch/talos_preload_libraries.launch
new file mode 100644
index 0000000..897f355
--- /dev/null
+++ b/talos_bringup/launch/talos_preload_libraries.launch
@@ -0,0 +1,10 @@
+<launch>
+
+ <include file="$(find talos_controller_configuration)/launch/talos_default_controllers.launch" />
+
+ <include file="$(find talos_controller_configuration)/launch/full_body_position_controllers.launch" />
+
+ <include file="$(find talos_walking)/launch/walking_controller.launch" />
+
+</launch>
+
diff --git a/talos_controller_configuration/launch/full_body_position_controllers.launch b/talos_controller_configuration/launch/full_body_position_controllers.launch
index 53f34d5..271b94b 100644
--- a/talos_controller_configuration/launch/full_body_position_controllers.launch
+++ b/talos_controller_configuration/launch/full_body_position_controllers.launch
@@ -12,7 +12,7 @@
left_gripper_controller
right_gripper_controller
left_leg_controller
- right_leg_controller" />
+ right_leg_controller --stopped" />
<!-- Point head action -->
<group ns="head_controller">
diff --git a/talos_description/robots/talos_full.urdf.xacro b/talos_description/robots/talos_full.urdf.xacro
index 88ec025..eeef7f0 100644
--- a/talos_description/robots/talos_full.urdf.xacro
+++ b/talos_description/robots/talos_full.urdf.xacro
@@ -30,8 +30,8 @@
<xacro:ft_sensor name="wrist" parent="arm_right_7_link" side="right" reflect="1" />
<xacro:ft_sensor name="wrist" parent="arm_left_7_link" side="left" reflect="-1" />
- <xacro:talos_gripper name="left_gripper" parent="wrist_left_ft_tool_link"/>
- <xacro:talos_gripper name="right_gripper" parent="wrist_right_ft_tool_link"/>
+ <xacro:talos_gripper name="gripper_left" parent="wrist_left_ft_tool_link"/>
+ <xacro:talos_gripper name="gripper_right" parent="wrist_right_ft_tool_link"/>
<xacro:talos_leg prefix="left" reflect="1" />
<xacro:talos_leg prefix="right" reflect="-1" />
diff --git a/talos_description/urdf/head/head.transmission.xacro b/talos_description/urdf/head/head.transmission.xacro
index a3148f5..8652347 100644
--- a/talos_description/urdf/head/head.transmission.xacro
+++ b/talos_description/urdf/head/head.transmission.xacro
@@ -13,7 +13,7 @@
<xacro:macro name="talos_head_differential_transmission"
params="name number1 number2 act_reduction1 act_reduction2 jnt_reduction1 jnt_reduction2" >
<transmission name="talos_trans">
- <type>transmission_interface/DifferentialTransmission</type>
+ <type>transmission_interface/HalfDifferentialTransmission</type>
<actuator name="${name}_${number1}_motor">
<role>actuator1</role>
<mechanicalReduction>${act_reduction1}</mechanicalReduction>
--
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