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Commit f8db9af3 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
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In position control, send currents, accelerometer and gyrometer to SOT.

parent a7e2fedf
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1 merge request!2Update republish + config for position control
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roscontrol_sot_talos/config/sot_talos_params.yaml
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View file @ f8db9af3
...@@ -7,8 +7,8 @@ sot_controller: ...@@ -7,8 +7,8 @@ sot_controller:
arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, gripper_right_joint, head_1_joint, head_2_joint arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, gripper_right_joint, head_1_joint, head_2_joint
] ]
map_rc_to_sot_device: { motor-angles: motor-angles , map_rc_to_sot_device: { motor-angles: motor-angles ,
joint-angles: joint-angles, velocities: velocities, joint-angles: joint-angles, velocities: velocities, forces: forces, currents: currents,
torques: torques, cmd-joints: control, cmd-effort: control } torques: torques, cmd-joints: control, cmd-effort: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
position_control_init_pos: position_control_init_pos:
- name: leg_left_1_joint - name: leg_left_1_joint
des_pos: 0.0 des_pos: 0.0
......
roscontrol_sot_talos/config/sot_talos_params_gazebo.yaml
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− 2
View file @ f8db9af3
...@@ -8,8 +8,8 @@ sot_controller: ...@@ -8,8 +8,8 @@ sot_controller:
arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, gripper_right_joint, head_1_joint, head_2_joint arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, gripper_right_joint, head_1_joint, head_2_joint
] ]
map_rc_to_sot_device: { motor-angles: motor-angles , map_rc_to_sot_device: { motor-angles: motor-angles ,
joint-angles: joint-angles, velocities: velocities, joint-angles: joint-angles, velocities: velocities, forces: forces, currents: currents,
torques: torques, cmd-joints: control, cmd-effort: control } torques: torques, cmd-joints: control, cmd-effort: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
position_control_init_pos: position_control_init_pos:
- name: leg_left_1_joint - name: leg_left_1_joint
des_pos: 0.0 des_pos: 0.0
......
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