-
Notifications
You must be signed in to change notification settings - Fork 6
/
controllers.yaml
97 lines (87 loc) · 3.43 KB
/
controllers.yaml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
pr2:
#list of controllers
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
torso_lift_joint_controller:
type: position_controllers/JointPositionController
joint: torso_lift_joint
pid: {p: 100.0, i: 0.1, d: 1.0}
world_joint_controller:
type: position_controllers/JointPositionController
joint: world_joint
pid: {p: 100.0, i: 0.1, d: 1.0}
right_gripper_controller:
type: "effort_controllers/JointTrajectoryController"
joints:
- right_right_gripper_finger_joint
- right_left_gripper_finger_joint
gains:
right_right_gripper_finger_joint: {p: 100, i: 1, d: 10, i_clamp: 1.0}
right_left_gripper_finger_joint: {p: 100, i: 1, d: 10, i_clamp: 1.0}
constraints:
goal_time: 3.0
right_right_gripper_finger_joint:
goal: 0.02
right_left_gripper_finger_joint:
goal: 0.02
left_gripper_controller:
type: "effort_controllers/JointTrajectoryController"
joints:
- left_right_gripper_finger_joint
- left_left_gripper_finger_joint
gains:
left_right_gripper_finger_joint: {p: 100, i: 1, d: 10, i_clamp: 1.0}
left_left_gripper_finger_joint: {p: 100, i: 1, d: 10, i_clamp: 1.0}
constraints:
goal_time: 3.0
left_right_gripper_finger_joint:
goal: 0.02
left_left_gripper_finger_joint:
goal: 0.02
right_arm_controller:
type: "position_controllers/JointTrajectoryController"
joints:
- right_shoulder_pan_joint
- right_shoulder_lift_joint
- right_upper_arm_roll_joint
- right_elbow_flex_joint
- right_forearm_roll_joint
- right_wrist_flex_joint
- right_wrist_roll_joint
gains:
right_shoulder_pan_joint: {p: 100, i: 0.01, d: 1}
right_shoulder_lift_joint: {p: 100, i: 0.01, d: 1}
right_upper_arm_roll_joint: {p: 100, i: 0.01, d: 1}
right_elbow_flex_joint: {p: 100, i: 0.01, d: 1}
right_forearm_roll_joint: {p: 100, i: 0.01, d: 1}
right_wrist_flex_joint: {p: 100, i: 0.01, d: 1}
right_wrist_roll_joint: {p: 100, i: 0.01, d: 1}
constraints:
goal_time: 10.0 # Override default
state_publish_rate: 50 # Override default
action_monitor_rate: 30 # Override default
stop_trajectory_duration: 0 # Override default
left_arm_controller:
type: "position_controllers/JointTrajectoryController"
joints:
- left_shoulder_pan_joint
- left_shoulder_lift_joint
- left_upper_arm_roll_joint
- left_elbow_flex_joint
- left_forearm_roll_joint
- left_wrist_flex_joint
- left_wrist_roll_joint
gains:
left_shoulder_pan_joint: {p: 100, i: 0.01, d: 1}
left_shoulder_lift_joint: {p: 100, i: 0.01, d: 1}
left_upper_arm_roll_joint: {p: 100, i: 0.01, d: 1}
left_elbow_flex_joint: {p: 100, i: 0.01, d: 1}
left_forearm_roll_joint: {p: 100, i: 0.01, d: 1}
left_wrist_flex_joint: {p: 100, i: 0.01, d: 1}
left_wrist_roll_joint: {p: 100, i: 0.01, d: 1}
constraints:
goal_time: 10.0 # Override default
state_publish_rate: 50 # Override default
action_monitor_rate: 30 # Override default
stop_trajectory_duration: 0 # Override default