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talos-metapkg-ros-control-sot
Commit 23b22d0e authored by Olivier Stasse's avatar Olivier Stasse
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Update params file to handle new structure of roscontrol_sot

parent d05ec5bc
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Showing with 107 additions and 9 deletions
roscontrol_sot_talos/config/sot_talos_params.yaml
View file @ 23b22d0e
......@@ -8,7 +8,7 @@ sot_controller:
]
map_rc_to_sot_device: { motor-angles: motor-angles ,
joint-angles: joint-angles, velocities: velocities, forces: forces, currents: currents,
torques: torques, cmd-joints: control, cmd-effort: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
torques: torques, control: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
position_control_init_pos:
- name: leg_left_1_joint
des_pos: 0.0
......@@ -74,7 +74,6 @@ sot_controller:
des_pos: 0.0
- name: head_2_joint
des_pos: 0.0
control_mode: POSITION
dt: 0.001
jitter: 0.0004
roscontrol_sot_talos/config/sot_talos_params_control_mode.yaml 0 → 100644
View file @ 23b22d0e
sot_controller:
control_mode:
arm_left_1_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
arm_left_2_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
arm_left_3_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
arm_left_4_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
arm_left_5_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
arm_left_6_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
arm_left_7_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
arm_right_1_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
arm_right_2_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
arm_right_3_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
arm_right_4_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
arm_right_5_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
arm_right_6_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
arm_right_7_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
gripper_left_joint: { ros_control_mode: POSITION, sot_control_mode: POSITION}
gripper_right_joint: { ros_control_mode: POSITION, sot_control_mode: POSITION}
head_1_joint: { ros_control_mode: POSITION, sot_control_mode: POSITION}
head_2_joint: { ros_control_mode: POSITION, sot_control_mode: POSITION}
leg_left_1_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
leg_left_2_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
leg_left_3_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
leg_left_4_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
leg_left_5_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
leg_left_6_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
leg_right_1_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
leg_right_2_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
leg_right_3_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
leg_right_4_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
leg_right_5_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
leg_right_6_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
torso_1_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
torso_2_joint: { ros_control_mode: POSITION, sot_control_mode: VELOCITY}
\ No newline at end of file
roscontrol_sot_talos/config/sot_talos_params_control_mode_effort.yaml 0 → 100644
View file @ 23b22d0e
sot_controller:
control_mode:
arm_left_1_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
arm_left_2_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
arm_left_3_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
arm_left_4_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
arm_left_5_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
arm_left_6_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
arm_left_7_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
arm_right_1_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
arm_right_2_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
arm_right_3_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
arm_right_4_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
arm_right_5_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
arm_right_6_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
arm_right_7_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
gripper_left_joint: { ros_control_mode: POSITION, sot_control_mode: POSITION}
gripper_right_joint: { ros_control_mode: POSITION, sot_control_mode: POSITION}
head_1_joint: { ros_control_mode: POSITION, sot_control_mode: POSITION}
head_2_joint: { ros_control_mode: POSITION, sot_control_mode: POSITION}
leg_left_1_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_left_2_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_left_3_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_left_4_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_left_5_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_left_6_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_right_1_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_right_2_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_right_3_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_right_4_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_right_5_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_right_6_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
torso_1_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
torso_2_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
\ No newline at end of file
roscontrol_sot_talos/config/sot_talos_params_effort.yaml
View file @ 23b22d0e
......@@ -8,7 +8,6 @@ sot_controller:
head_1_joint, head_2_joint ]
map_rc_to_sot_device: { motor-angles: motor-angles ,
joint-angles: joint-angles, velocities: velocities, forces: forces, currents: currents,
torques: torques, cmd-joints: control, cmd-effort: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
control_mode: EFFORT
torques: torques, control: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
dt: 0.001
jitter: 0.0004
roscontrol_sot_talos/config/sot_talos_params_gazebo.yaml
View file @ 23b22d0e
......@@ -9,7 +9,7 @@ sot_controller:
]
map_rc_to_sot_device: { motor-angles: motor-angles ,
joint-angles: joint-angles, velocities: velocities, forces: forces, currents: currents,
torques: torques, cmd-joints: control, cmd-effort: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
torques: torques, control: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
position_control_init_pos:
- name: leg_left_1_joint
des_pos: 0.0
......@@ -75,6 +75,7 @@ sot_controller:
des_pos: 0.0
- name: head_2_joint
des_pos: 0.0
control_mode: POSITION
dt: 0.001
jitter: 0.0004
verbosity_level: 5
\ No newline at end of file
roscontrol_sot_talos/config/sot_talos_params_gazebo_effort.yaml
View file @ 23b22d0e
......@@ -9,6 +9,32 @@ sot_controller:
head_1_joint, head_2_joint ]
map_rc_to_sot_device: { motor-angles: motor-angles ,
joint-angles: joint-angles, velocities: velocities, forces: forces, currents: currents,
torques: torques, cmd-joints: control, cmd-effort: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
control_mode: EFFORT
dt: 0.001
torques: torques, control: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
control_mode:
leg_left_1_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_left_2_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_left_3_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_left_4_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_left_5_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_left_6_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_right_1_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_right_2_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_right_3_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_right_4_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_right_5_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_right_6_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_left_1_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_left_2_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_left_3_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_left_4_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_left_5_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_left_6_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_right_1_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_right_2_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_right_3_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_right_4_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_right_5_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
leg_right_6_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
dt: 0.001
roscontrol_sot_talos/launch/sot_talos_controller.launch
View file @ 23b22d0e
......@@ -2,6 +2,7 @@
<!-- Sot Controller configuration -->
<rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_params.yaml"/>
<rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_params_control_mode.yaml"/>
<rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_controller.yaml" />
<!-- Spawn walking controller -->
......
roscontrol_sot_talos/launch/sot_talos_controller_effort.launch
View file @ 23b22d0e
......@@ -2,6 +2,7 @@
<!-- Sot Controller configuration -->
<rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_params_effort.yaml"/>
<rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_params_control_mode_effort.yaml"/>
<rosparam command="load" ns="/sot_controller/effort_control_pd_motor_init" file="$(find roscontrol_sot_talos)/config/pids_effort.yaml"/>
<rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_controller.yaml" />
......
roscontrol_sot_talos/launch/sot_talos_controller_gazebo.launch
View file @ 23b22d0e
......@@ -3,6 +3,7 @@
<!-- Sot Controller configuration -->
<rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_params_gazebo.yaml"/>
<rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_controller.yaml" />
<rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_params_control_mode.yaml"/>
<!-- Spawn walking controller -->
<node name="sot_controller_spawner"
......
roscontrol_sot_talos/launch/sot_talos_controller_gazebo_effort.launch
View file @ 23b22d0e
......@@ -2,6 +2,7 @@
<!-- Sot Controller configuration -->
<rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_params_gazebo_effort.yaml"/>
<rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_params_control_mode_effort.yaml"/>
<rosparam command="load" ns="/sot_controller/effort_control_pd_motor_init" file="$(find talos_hardware_gazebo)/config/pids.yaml"/>
<rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_controller.yaml" />
......
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