.git-blame-ignore-revs

+# format (Guilhem Saurel, 2022-09-12)
+22bb5a0457fa244d13386673401469c00ad7a043

.gitlab-ci.yml

-variables:
-  GIT_SUBMODULE_STRATEGY: "recursive"
-  GIT_DEPTH: "3"
-  NAMESPACE: pyrene-dev
-  PROJECT: talos_metapkg_ros_control_sot
-  REGISTRY: gepgitlab.laas.fr:4567
-  IMAGE: "${REGISTRY}/${NAMESPACE}/${PROJECT}"
-  CCACHE_BASEDIR: "${CI_PROJECT_DIR}"
-  CCACHE_DIR: "${CI_PROJECT_DIR}/ccache"
-
-cache:
-  paths:
-    - ccache
-
-
-.robotpkg-talos-metapkg-ros-control-sot: &robotpkg-talos-metapkg-ros-control-sot
-  variables:
-    ROBOTPKG: talos-metapkg-ros-control-sot
-    CATEGORY: wip
-  except:
-    - gh-pages
-  before_script:
-    - mkdir -p ccache
-  script:
-    - cd /root/robotpkg/${CATEGORY}/${ROBOTPKG}
-    - git pull
-<<<<<<< HEAD
-    - make checkout MASTER_REPOSITORY="dir ${CI_PROJECT_DIR}"
-=======
-    - echo "MASTER_REPOSITORY = git ${CI_PROJECT_DIR}" >> Makefile
-    - echo "REPOSITORY.talos-metapkg-ros-control-sot = git ${CI_PROJECT_DIR}" >> /opt/openrobots/etc/robotpkg.conf
-    - echo "ACCEPTABLE_LICENSES+=pal-license" >> /opt/openrobots/etc/robotpkg.conf
-    - make checkout
->>>>>>> 6c3328158e5a7d6aaad1001c19e64e76df813aa1
-    - make install
-    - cd work.$(hostname)/$(make show-var VARNAME=DISTNAME)
-    
-    
-
-
-robotpkg-talos-metapkg-ros-control-sot-14.04:
-  <<: *robotpkg-talos-metapkg-ros-control-sot
-  before_script:
-    - mkdir -p build/ccache
-    - cd build
-    - export CCACHE_BASEDIR=${PWD}
-    - export CCACHE_DIR=${PWD}/ccache
-    - apt-get update    
-    - apt-get install -y ros-indigo-twist-mux ros-indigo-joy-teleop ros-indigo-moveit-ros-move-group  ros-indigo-humanoid-nav-msgs ros-indigo-four-wheel-steering-msgs 
-  image: ${IMAGE}:14.04
-
-
-robotpkg-talos-metapkg-ros-control-sot-16.04:
-  <<: *robotpkg-talos-metapkg-ros-control-sot
-  before_script:
-    - mkdir -p build/ccache
-    - cd build
-    - export CCACHE_BASEDIR=${PWD}
-    - export CCACHE_DIR=${PWD}/ccache
-    - apt-get update        
-    - apt-get install -y ros-kinetic-twist-mux ros-kinetic-joy-teleop ros-kinetic-moveit-ros-move-group  ros-kinetic-humanoid-nav-msgs ros-kinetic-four-wheel-steering-msgs ros-kinetic-urdf-geometry-parser  
-  image: ${IMAGE}:16.04
-
-
-robotpkg-talos-metapkg-ros-control-sot-dubnium:
-  <<: *robotpkg-talos-metapkg-ros-control-sot
-  before_script:
-    - mkdir -p build/ccache
-    - cd build
-    - export CCACHE_BASEDIR=${PWD}
-    - export CCACHE_DIR=${PWD}/ccache
-    - apt-get update
-    - apt-get install ros-indigo-twist-mux ros-indigo-joy-teleop ros-indigo-moveit-ros-move-group  ros-indigo-humanoid-nav-msgs ros-indigo-four-wheel-steering-msgs ros-indigo-urdf-geometry-parser
-  image: ${IMAGE}:dubnium
-
-
-
+include: https://rainboard.laas.fr/project/talos-metapkg-ros-control-sot/.gitlab-ci.yml

.pre-commit-config.yaml

+ci:
+    autoupdate_branch: 'devel'
+repos:
+-   repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v14.0.6
+    hooks:
+    -   id: clang-format
+        args: [--style=Google]
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.3.0
+    hooks:
+    -   id: check-added-large-files
+    -   id: check-ast
+    -   id: check-executables-have-shebangs
+    -   id: check-json
+    -   id: check-merge-conflict
+    -   id: check-symlinks
+    -   id: check-toml
+    -   id: check-yaml
+    -   id: debug-statements
+    -   id: destroyed-symlinks
+    -   id: detect-private-key
+    -   id: end-of-file-fixer
+    -   id: fix-byte-order-marker
+    -   id: mixed-line-ending
+    -   id: trailing-whitespace
+-   repo: https://github.com/psf/black
+    rev: 22.8.0
+    hooks:
+    -   id: black
+-   repo: https://github.com/PyCQA/flake8
+    rev: 5.0.4
+    hooks:
+    -   id: flake8
+-   repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+    - id: cmake-format

README.md

  This metapackage allows starting the stack of tasks for TALOS.
 
+[![Pipeline status](https://gitlab.laas.fr/stack-of-tasks/talos-metapkg-ros-control-sot/badges/master/pipeline.svg)](https://gitlab.laas.fr/stack-of-tasks/talos-metapkg-ros-control-sot/commits/master)
+[![Coverage report](https://gitlab.laas.fr/stack-of-tasks/talos-metapkg-ros-control-sot/badges/master/coverage.svg?job=doc-coverage)](https://gepettoweb.laas.fr/doc/stack-of-tasks/talos-metapkg-ros-control-sot/master/coverage/)
+[![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
+[![pre-commit.ci status](https://results.pre-commit.ci/badge/github/stack-of-tasks/talos-metapkg-ros-control-sot/master.svg)](https://results.pre-commit.ci/latest/github/stack-of-tasks/talos-metapkg-ros-control-sot)
+
 ## Introduction
 
 Two methods to use the SoT with TALOS are possible:
@@ -7,13 +12,13 @@ Two methods to use the SoT with TALOS are possible:
  1.  One based on roscontrol_sot which is using the roscontrol interface. The SoT is then acting as a Controller object interacting with the hardware interface. This is was is used with Gazebo and on the real robot.
  2. One based on geometric-simu. This software is simply a taking the control provided by the SoT and integrates it using a Euler scheme. The order of integration is chosen automatically according to the control law.
 
-## Using roscontrol_sot 
+## Using roscontrol_sot
 
 ### On Gazebo
- 
+
 To start the SoT in position mode control:
     roslaunch roscontrol_sot_talos sot_talos_controller_gazebo.launch
-    
+
 To start the SoT in effort mode control:
 	roslaunch roscontrol_sot_talos sot_talos_controller_gazebo_effort.launch
 
@@ -22,7 +27,7 @@ To start the SoT in effort mode control:
 To start the SoT in position mode control:
 ``
 roslaunch roscontrol_sot_talos sot_talos_controller.launch
-`` 
+``
 To start the SoT in effort mode control:
 ``
 roslaunch roscontrol_sot_talos sot_talos_controller_effort.launch
@@ -33,6 +38,3 @@ roslaunch roscontrol_sot_talos sot_talos_controller_effort.launch
 ``
 roslaunch sot_pyrene_bringup geometric_simu.launch
 ``
-
-
-

pyproject.toml

+[tool.black]
+exclude = "cmake"

roscontrol_sot_talos/CMakeLists.txt

@@ -6,19 +6,17 @@ find_package(PkgConfig REQUIRED)
 set(bullet_FOUND 0)
 pkg_check_modules(bullet REQUIRED bullet)
 
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  rospy
-  std_msgs
-  dynamic_graph_bridge
-  control_msgs
-  sensor_msgs
-  realtime_tools
-  controller_interface
-)
+# Find catkin macros and libraries if COMPONENTS list like find_package(catkin
+# REQUIRED COMPONENTS xyz) is used, also find other catkin packages
+find_package(
+  catkin REQUIRED
+  COMPONENTS roscpp
+             rospy
+             std_msgs
+             control_msgs
+             sensor_msgs
+             realtime_tools
+             controller_interface)
 
 include_directories(include ${bullet_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
 
@@ -26,56 +24,24 @@ link_directories(${bullet_LIBRARY_DIRS})
 
 catkin_package()
 
-###########
-## Build ##
-###########
+# ##############################################################################
+# Build ##
+# ##############################################################################
 
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-# include_directories(include)
-include_directories( 
-  ${catkin_INCLUDE_DIRS}
-)
+# Specify additional locations of header files Your package locations should be
+# listed before other locations include_directories(include)
+include_directories(${catkin_INCLUDE_DIRS})
 
+# ##############################################################################
+# Install ##
+# ##############################################################################
 
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(roscontrol_sot_talos_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
+# Mark executables and/or libraries for installation
 foreach(dir config launch)
-  install(DIRECTORY ${dir}
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-  )
+  install(DIRECTORY ${dir} DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 endforeach()
 
-catkin_install_python(PROGRAMS scripts/republish
-                      DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_roscontrol_sot_talos.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+catkin_install_python(
+  PROGRAMS scripts/republish scripts/start_talos_gazebo.py
+  scripts/start_talos_gazebo_16_04.py DESTINATION
+  ${CATKIN_PACKAGE_BIN_DESTINATION})

roscontrol_sot_talos/config/pids_effort.yaml

+gains:
+  leg_left_1_joint:  &leg_1_gains {p:  100, d: 0, i:  0, i_clamp:   7, torque_clamp: 60}
+  leg_left_2_joint:  &leg_2_gains {p:  120, d: 0, i:  0, i_clamp:   14, torque_clamp: 160}
+  leg_left_3_joint:  &leg_3_gains {p:  100, d: 0, i:  0, i_clamp:   14, torque_clamp: 160}
+  leg_left_4_joint:  &leg_4_gains {p:  130, d: 0, i:  0, i_clamp:   25, torque_clamp: 300}
+  leg_left_5_joint:  &leg_5_gains {p:   75, d: 0, i:  0, i_clamp:   14, torque_clamp: 160}
+  leg_left_6_joint:  &leg_6_gains {p:   75, d: 0, i:  0, i_clamp:   9, torque_clamp: 100}
+  leg_right_1_joint: *leg_1_gains
+  leg_right_2_joint: *leg_2_gains
+  leg_right_3_joint: *leg_3_gains
+  leg_right_4_joint: *leg_4_gains
+  leg_right_5_joint: *leg_5_gains
+  leg_right_6_joint: *leg_6_gains
+
+
+  head_1_joint:                   {p: 1,  d: 0.0, i: 0, i_clamp: 5, torque_clamp: 8}
+  head_2_joint:                   {p: 1,  d: 0.0, i: 0, i_clamp: 1.5, torque_clamp: 8}
+
+  torso_1_joint:                  {p: 30, d: 0, i: 0, i_clamp: 10, torque_clamp: 100}
+  torso_2_joint:                  {p: 30, d: 0, i: 0, i_clamp: 10, torque_clamp: 100}
+
+  arm_right_1_joint: &arm_1_gains {p: 20, d: 0, i: 0,  i_clamp: 14, torque_clamp: 150}
+  arm_right_2_joint: &arm_2_gains {p: 100, d: 0, i: 0, i_clamp: 14, torque_clamp: 150}
+  arm_right_3_joint: &arm_3_gains {p: 50, d: 0, i: 0,  i_clamp: 9, torque_clamp: 100}
+  arm_right_4_joint: &arm_4_gains {p: 50, d: 0, i: 0,  i_clamp: 9, torque_clamp: 100}
+  arm_right_5_joint: &arm_5_gains {p: 50,  d: 0, i: 0, i_clamp: 5, torque_clamp: 50}
+  arm_right_6_joint: &arm_6_gains {p: 30,  d: 0, i: 0, i_clamp: 3, torque_clamp: 30}
+  arm_right_7_joint: &arm_7_gains {p: 30,  d: 0, i: 0, i_clamp: 3, torque_clamp: 30}
+  arm_left_1_joint:  *arm_1_gains
+  arm_left_2_joint:  *arm_2_gains
+  arm_left_3_joint:  *arm_3_gains
+  arm_left_4_joint:  *arm_4_gains
+  arm_left_5_joint:  *arm_5_gains
+  arm_left_6_joint:  *arm_6_gains
+  arm_left_7_joint:  *arm_7_gains
+
+  gripper_left_joint:  {p: 0.002, d: 0, i: 0, i_clamp: 10, torque_clamp: 100}
+  gripper_right_joint: {p: 0.002, d: 0, i: 0, i_clamp: 10, torque_clamp: 100}
+
+  #https://answers.ros.org/question/283537/how-to-do-mimic-joints-that-work-in-gazebo/
+  gripperleft_inner_double_joint: &gripper_gains {p: 20, d: 0.0, i: 0.0, i_clamp: 0.2, antiwindup: false}
+  gripper_left_fingertip_1_joint: *gripper_gains
+  gripper_left_fingertip_2_joint: *gripper_gains
+  gripper_left_motor_single_joint: *gripper_gains
+  gripper_left_fingertip_3_joint: *gripper_gains
+  gripper_left_inner_single_joint: *gripper_gains
+  gripper_left_inner_double_joint: *gripper_gains
+
+  gripper_right_inner_double_joint: *gripper_gains
+  gripper_right_fingertip_1_joint: *gripper_gains
+  gripper_right_fingertip_2_joint: *gripper_gains
+  gripper_right_motor_single_joint: *gripper_gains
+  gripper_right_fingertip_3_joint: *gripper_gains
+  gripper_right_inner_single_joint: *gripper_gains

roscontrol_sot_talos/config/sot_talos_params.yaml

@@ -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
@@ -69,12 +69,10 @@ sot_controller:
     - name: arm_right_7_joint
       des_pos: 0.1
     - name: gripper_right_joint
-      des_pos: -0.005 
+      des_pos: -0.005
     - name: head_1_joint
-      des_pos:: 0.0
+      des_pos: 0.0
     - name: head_2_joint
-      des_pos:: 0.0   
-  control_mode: POSITION
+      des_pos: 0.0
   dt: 0.001
-  jitter: 0.0004
-  
+  subsampling: 2

roscontrol_sot_talos/config/sot_talos_params_control_mode.yaml

+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}

roscontrol_sot_talos/config/sot_talos_params_control_mode_effort.yaml

+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}

roscontrol_sot_talos/config/sot_talos_params_effort.yaml

@@ -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	
\ No newline at end of file
+  jitter: 0.0004

roscontrol_sot_talos/config/sot_talos_params_gazebo.yaml

@@ -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
@@ -70,11 +70,11 @@ sot_controller:
     - name: arm_right_7_joint
       des_pos: 0.1
     - name: gripper_right_joint
-      des_pos: -0.005 
+      des_pos: -0.005
     - name: head_1_joint
-      des_pos:: 0.0
+      des_pos: 0.0
     - name: head_2_joint
-      des_pos:: 0.0   
-  control_mode: POSITION
+      des_pos: 0.0
   dt: 0.001
   jitter: 0.0004
+  verbosity_level: 5

roscontrol_sot_talos/config/sot_talos_params_gazebo_effort.yaml

@@ -9,6 +9,39 @@ 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}
+    torso_1_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
+    torso_2_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
+    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}
+    gripper_left_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_right_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
+    head_1_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
+    head_2_joint: { ros_control_mode: EFFORT, sot_control_mode: EFFORT}
+
+  dt: 0.001

roscontrol_sot_talos/launch/display_sot.launch

 <launch>
   <arg name="input_topic" default="/sot_hpp/state"/>
   <arg name="output_prefix" default="/sot"/>
+  <arg name="rviz" default="false"/>
+  <arg name="publish_root" default="true"/>
 
-  <node pkg="roscontrol_sot_talos" name="republish" type="republish" args="$(arg input_topic) $(arg output_prefix)/joint_state true"/>
+  <node pkg="roscontrol_sot_talos" name="$(anon republish)" type="republish" args="$(arg input_topic) $(arg output_prefix)/joint_state $(arg publish_root)"/>
 
   <node pkg="tf" type="static_transform_publisher"
-    name="base_link_broadcaster"
-    args="0 0 0 0 0 0 1 odom $(arg output_prefix)/odom 100" />
+    name="$(anon base_link_broadcaster)"
+    args="0 0 0 0 0 0 1 odom $(arg output_prefix)/odom 100"
+    if="$(arg publish_root)" />
+  <node pkg="tf" type="static_transform_publisher"
+    name="$(anon base_link_broadcaster)"
+    args="0 0 0 0 0 0 1 odom $(arg output_prefix)/base_link 100"
+    unless="$(arg publish_root)" />
 
-  <node pkg="robot_state_publisher" type="robot_state_publisher" name="rob_st_pub" >
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="$(anon rob_st_pub)" >
     <remap from="/joint_states" to="$(arg output_prefix)/joint_state" />
     <param name="tf_prefix" value="$(arg output_prefix)" />
   </node>
 
-  <node pkg="rviz" type="rviz" name="rviz" />
+  <node if="$(arg rviz)" pkg="rviz" type="rviz" name="$(anon rviz)" />
 </launch>

roscontrol_sot_talos/launch/sot_talos_controller.launch

@@ -2,12 +2,12 @@
 
   <!-- 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 -->
   <node name="sot_controller_spawner"
         pkg="controller_manager" type="spawner" output="screen"
         args="sot_controller" />
 
 </launch>
-

roscontrol_sot_talos/launch/sot_talos_controller_effort.launch

@@ -2,14 +2,13 @@
 
   <!-- Sot Controller configuration -->
   <rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_params_effort.yaml"/>
-  <rosparam command="load" ns="/sot_controller/effort_control_pd_motor_init" file="$(find talos_hardware_gazebo)/config/pids.yaml"/>
+  <rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_params_control_mode_effort.yaml"/>
+  <rosparam command="load" ns="/sot_controller/effort_control_pd_motor_init" file="$(find roscontrol_sot_talos)/config/pids_effort.yaml"/>
   <rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_controller.yaml" />
-  
-  <env name="PYTHONPATH" value="/opt/pal/dubnium/lib/python2.7/dist-packages:/opt/ros/indigo/lib/python2.7/dist-packages:/opt/openrobots/lib/python2.7/dist-packages:/opt/openrobots/lib/python2.7/site-packages" />
+
   <!-- Spawn walking controller -->
   <node name="sot_controller_spawner"
         pkg="controller_manager" type="spawner" output="screen"
         args="sot_controller" />
 
 </launch>
-

roscontrol_sot_talos/launch/sot_talos_controller_gazebo.launch

@@ -3,11 +3,11 @@
   <!-- 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"
         pkg="controller_manager" type="spawner" output="screen"
         args="sot_controller" />
 
 </launch>
-

roscontrol_sot_talos/launch/sot_talos_controller_gazebo_effort.launch

@@ -2,13 +2,13 @@
 
   <!-- 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" />
-  
+
   <!-- Spawn sot controller -->
   <node name="sot_controller_spawner"
         pkg="controller_manager" type="spawner" output="screen"
         args="sot_controller" />
 
 </launch>
-

roscontrol_sot_talos/package.xml

 <?xml version="1.0"?>
 <package>
   <name>roscontrol_sot_talos</name>
-  <version>0.0.9</version>
+  <version>0.3.1</version>
   <description>Wrapping Stack-of-tasks for Talos in ros-control</description>
 
-  <!-- Maintainer email --> 
+  <!-- Maintainer email -->
   <maintainer email="ostasse@laas.fr">Olivier Stasse</maintainer>
 
 
@@ -43,6 +43,7 @@
   <build_depend>cmake_modules</build_depend>
   <build_depend>roscontrol_sot</build_depend>
   <build_depend>controller_interface</build_depend>
+  <build_depend>sot-talos</build_depend>
 
   <run_depend>roscpp</run_depend>
   <run_depend>control_msgs</run_depend>
@@ -53,5 +54,6 @@
   <run_depend>cmake_modules</run_depend>
   <run_depend>roscontrol_sot</run_depend>
   <run_depend>controller_interface</run_depend>
+  <run_depend>sot-talos</run_depend>
   <!-- The export tag contains other, unspecified, tags -->
 </package>

roscontrol_sot_talos/scripts/republish

 #!/usr/bin/env python
 # license removed for brevity
-import rospy, tf
+import rospy
+import tf
 from dynamic_graph_bridge_msgs.msg import Vector
 from sensor_msgs.msg import JointState
 import sys
 
 # Arg 1
-input_topic = "/sot_hpp/state"
+input_topic = "/robotState"
 # Arg 2
 output_topic = "/sot/joint_state"
 # Arg 3
 publish_root_wrt_odom = False
-if len(sys.argv)>1:
+if len(sys.argv) > 1:
     input_topic = sys.argv[1]
-    if len(sys.argv)>2:
+    if len(sys.argv) > 2:
         output_topic = sys.argv[2]
-        if len(sys.argv)>3:
-            publish_root_wrt_odom = (sys.argv[3].lower() in ("true","on"))
+        if len(sys.argv) > 3:
+            publish_root_wrt_odom = sys.argv[3].lower() in ("true", "on")
 
-rospy.init_node('sot_reemitter', anonymous=True)
+rospy.init_node("sot_reemitter", anonymous=True)
 pub = rospy.Publisher(output_topic, JointState, queue_size=10)
-    
+
 seqnb = 0
 aJS = JointState()
 
 if publish_root_wrt_odom:
-    if output_topic.find('/') >= 0:
-        output_prefix = output_topic.rsplit('/',1)[0] + '/'
+    if output_topic.find("/") >= 0:
+        output_prefix = output_topic.rsplit("/", 1)[0] + "/"
     else:
         output_prefix = ""
-    rospy.loginfo("Will publish " + output_prefix + "base_link with respect to " + output_prefix + "odom")
+    rospy.loginfo(
+        "Will publish "
+        + output_prefix
+        + "base_link with respect to "
+        + output_prefix
+        + "odom"
+    )
+
+jointnames = rospy.get_param("/sot_controller/joint_names")
+
 
-jointnames =  rospy.get_param("/sot_controller/joint_names")
-    
 def jointreceived(jstates):
     global seqnb
-    seqnb = seqnb+1
+    seqnb = seqnb + 1
     time = rospy.Time.now()
     aJS.header.seq = seqnb
     aJS.header.stamp = time
@@ -48,18 +56,23 @@ def jointreceived(jstates):
 
     if publish_root_wrt_odom and len(jstates.data) > 6:
         br = tf.TransformBroadcaster()
-        br.sendTransform(jstates.data[0:3],
-                         tf.transformations.quaternion_from_euler(
-                             jstates.data[3], jstates.data[4], jstates.data[5]),
-                         time,
-                         output_prefix + "base_link",
-                         output_prefix + "odom")
+        br.sendTransform(
+            jstates.data[0:3],
+            tf.transformations.quaternion_from_euler(
+                jstates.data[3], jstates.data[4], jstates.data[5]
+            ),
+            time,
+            output_prefix + "base_link",
+            output_prefix + "odom",
+        )
+
 
 def listener():
     rospy.Subscriber(input_topic, Vector, jointreceived)
     rospy.spin()
-    
-if __name__ == '__main__':
+
+
+if __name__ == "__main__":
     try:
         listener()
     except rospy.ROSInterruptException: