Merge branch 'master' of github.com:ipa-fmw/cob_driver

cob_base/ros/bin/Platform/IniFiles/tricycle_dd/CanCtrl.ini

@@ -1,3 +1,4 @@
+<<<<<<< HEAD
 // ----------------------------------------------------------------------
 // Neobotix 
 // www.neobotix.de
@@ -367,3 +368,374 @@ MaxMeasDistMM = 4000;
 PosXMM = 0;
 PosYMM = -100;
 PosZMM = 400;
+=======
+// ----------------------------------------------------------------------
+// Neobotix 
+// www.neobotix.de
+// Copyright (c) 2003. All rights reserved.
+// ----------------------------------------------------------------------
+
+// ----------------------------------------------------------------------
+// CanCtrl.ini
+// Configuration file for neobotix mobile platforms
+// ----------------------------------------------------------------------
+
+
+// ----------------------------------------------------------------------
+// Configuration of the can network
+// ----------------------------------------------------------------------
+[TypeCan]
+// 0 = Can Peak Dongle
+// 1 = Can Peak USB 
+// 2 = Can Card ESD
+Can = 1
+
+[CanCtrl]
+// network of esd card (0 or 1)
+NetESD = 0 
+// Baudrate values: 
+0 = 1000 kbit/s
+2 = 500 kbit/s
+4 = 250 kbit/s
+6 = 125 kbit/s
+9 = 50 kbit/s
+B = 20 kbit/s
+D = 10 kbit/s
+BaudrateVal = 0
+
+
+[CanNeoIDs]
+// Can-IDs if Neobotix Boards are used (only read from Inifile for CoB3 Platforms)
+DriveNeo_W1Drive_rx_ID = 0x0210
+DriveNeo_W1Drive_tx_ID = 0x0211
+DriveNeo_W1Steer_rx_ID = 0x0220
+DriveNeo_W1Steer_tx_ID = 0x0221
+
+DriveNeo_W2Drive_rx_ID = 0x0230
+DriveNeo_W2Drive_tx_ID = 0x0231
+DriveNeo_W2Steer_rx_ID = 0x0240
+DriveNeo_W2Steer_tx_ID = 0x0241
+
+DriveNeo_W3Drive_rx_ID = 0x0250
+DriveNeo_W3Drive_tx_ID = 0x0251
+DriveNeo_W3Steer_rx_ID = 0x0260
+DriveNeo_W3Steer_tx_ID = 0x0261
+
+DriveNeo_W4Drive_rx_ID = 0x0270
+DriveNeo_W4Drive_tx_ID = 0x0271
+DriveNeo_W4Steer_rx_ID = 0x0280
+DriveNeo_W4Steer_tx_ID = 0x0281
+
+IOBoard_rx_ID = 0x0100
+IOBoard_tx_ID = 0x0101
+USBoard_rx_ID = 0x0400
+USBoard_tx_ID = 0x0401
+GyroBoard_rx_ID = 0x0120
+GyroBoard_tx_ID = 0x0121
+RadarBoard_rx_ID = 0x0110
+RadarBoard_tx_ID = 0x0111
+
+
+[CanOpenIDs]
+// Can-ID's for motor controllers if elmo Harmonica's are used via CanOpen
+// Wheel 1
+// Drive (can adresse motor 1)
+TxPDO1_W1Drive = 0x184;
+TxPDO2_W1Drive = 0x284;
+RxPDO2_W1Drive = 0x304;
+TxSDO_W1Drive = 0x584;
+RxSDO_W1Drive = 0x604;
+// Steer (can adresse motor 2)
+TxPDO1_W1Steer = 0x183;
+TxPDO2_W1Steer = 0x283;
+RxPDO2_W1Steer = 0x303;
+TxSDO_W1Steer = 0x583;
+RxSDO_W1Steer = 0x603;
+
+// Wheel 2
+// Drive (can adresse motor 3)
+TxPDO1_W2Drive = 0x188;
+TxPDO2_W2Drive = 0x288;
+RxPDO2_W2Drive = 0x308;
+TxSDO_W2Drive = 0x588;
+RxSDO_W2Drive = 0x608;
+// Steer (can adresse motor 4)
+TxPDO1_W2Steer = 0x187;
+TxPDO2_W2Steer = 0x287;
+RxPDO2_W2Steer = 0x307;
+TxSDO_W2Steer = 0x587;
+RxSDO_W2Steer = 0x607;
+
+// Wheel 3
+// Drive (can adresse motor 5)
+TxPDO1_W3Drive = 0x186;
+TxPDO2_W3Drive = 0x286;
+RxPDO2_W3Drive = 0x306;
+TxSDO_W3Drive = 0x586;
+RxSDO_W3Drive = 0x606;
+// Steer (can adresse motor 6)
+TxPDO1_W3Steer = 0x185;
+TxPDO2_W3Steer = 0x285;
+RxPDO2_W3Steer = 0x305;
+TxSDO_W3Steer = 0x585;
+RxSDO_W3Steer = 0x605;
+
+// Wheel 4
+// Drive (can adresse motor 7)
+TxPDO1_W4Drive = 0x182;
+TxPDO2_W4Drive = 0x282;
+RxPDO2_W4Drive = 0x302;
+TxSDO_W4Drive = 0x582;
+RxSDO_W4Drive = 0x602;
+// STeer (can adresse motor 8)
+TxPDO1_W4Steer = 0x181;
+TxPDO2_W4Steer = 0x281;
+RxPDO2_W4Steer = 0x301;
+TxSDO_W4Steer = 0x581;
+RxSDO_W4Steer = 0x601;	
+
+
+---------------------------------------
+// Configuration of the drive
+// ----------------------------------------------------------------------
+[TypeDrive]
+
+// use DriveAmpNeoMotNeo, DriveAmpHarmMotTetra85, DriveAmpHarmMotFaul4490, DriveAmpHarmMotFaul4490CoB3Drive, DriveAmpHarmMotFaul4490CoB3Steer
+Drive1 = "DriveAmpHarmMotFaul4490CoB3Drive"
+Steer1 = "DriveAmpHarmMotFaul4490CoB3Steer"
+
+[DriveAmpNeoMotNeo]
+// Number of encoder increments per revolution
+EncIncrPerRevMot = 4096; 
+// Specific parameter used only in DriveAmpNeoMotNeo
+VelMeasFrqHz = 500;
+// Gear ratio between the motor and the output schaft
+GearRatio = 37;
+// Belt ratio between the output shaft and the wheel
+BeltRatio = 1;
+// Choose 1.0 or -1.0 to change the rotation direction
+Sign = 1.0;
+// Maximum rotation velocity in [inc/s]
+VelMaxEncIncrS = 350;
+// acceleration [inc/s^2]
+AccIncrS = 80000 
+// deceleration [inc/s^2]
+DecIncrS = 80000 
+
+[DriveAmpHarmMotTetra85]
+EncIncrPerRevMot = 8000;
+VelMeasFrqHz = 1;
+GearRatio = 37;
+BeltRatio = 1;
+Sign = -1.0;
+VelMaxEncIncrS = 10000;
+AccIncrS = 80000;
+DecIncrS = 80000;
+
+[DriveAmpHarmMotFaul4490]
+EncIncrPerRevMot = 2000;
+VelMeasFrqHz = 1;
+GearRatio = 22;
+BeltRatio = 1;
+Sign = 1.0;
+VelMaxEncIncrS = 120000;
+AccIncrS = 80000;
+DecIncrS = 80000;
+
+[Drive1]
+EncIncrPerRevMot = 4096; //16384; //4096;
+VelMeasFrqHz = 1;
+GearRatio = 21;
+BeltRatio = 1;
+Sign = 1.0;
+VelMaxEncIncrS = 240000;
+AccIncrS = 1000000;
+DecIncrS = 1000000;
+EncOffsetIncr = 12000;//0;
+IsSteering = false;
+CurrentToTorque = 1; 	// Factor to convert motor active current [A] into Torque [Nm]
+CurrMax = 14;			// Defines maximum allowed current command (in MotionMode: CurrentCtrl)
+HomingDigIn = 19;
+
+[Steer1]
+EncIncrPerRevMot = 8000;
+VelMeasFrqHz = 1;
+GearRatio = 4; //12.66666666;
+BeltRatio = 1;
+Sign = 1.0;
+VelMaxEncIncrS = 240000;
+AccIncrS = 1000000;
+DecIncrS = 1000000;
+EncOffsetIncr = -2400;
+IsSteering = true;
+CurrentToTorque = 0.087; 	// Factor to convert motor active current [A] into Torque [Nm]
+CurrMax = 6.9;			// Defines maximum allowed current command (in MotionMode: CurrentCtrl)
+HomingDigIn = 19;
+
+[Drive2]
+EncIncrPerRevMot = 4096;
+VelMeasFrqHz = 1;
+GearRatio = 15;
+BeltRatio = 2;
+Sign = -1.0;
+VelMaxEncIncrS = 240000;
+AccIncrS = 1000000;
+DecIncrS = 1000000;
+EncOffsetIncr = 0;
+IsSteering = false;
+CurrentToTorque = 0.10065; 	// Factor to convert motor active current [A] into Torque [Nm]
+CurrMax = 9.62;			// Defines maximum allowed current command (in MotionMode: CurrentCtrl)
+HomingDigIn = 19;
+
+[Steer2]
+EncIncrPerRevMot = 4096;
+VelMeasFrqHz = 1;
+GearRatio = 12.66666666;
+BeltRatio = 1;
+Sign = 1.0;
+VelMaxEncIncrS = 240000;
+AccIncrS = 1000000;
+DecIncrS = 1000000;
+EncOffsetIncr = -3312;
+IsSteering = true;
+CurrentToTorque = 0.10065; 	// Factor to convert motor active current [A] into Torque [Nm]
+CurrMax = 9.62;			// Defines maximum allowed current command (in MotionMode: CurrentCtrl)
+HomingDigIn = 19;
+
+[Drive3]
+EncIncrPerRevMot = 4096;
+VelMeasFrqHz = 1;
+GearRatio = 15;
+BeltRatio = 2;
+Sign = 1.0;
+VelMaxEncIncrS = 240000;
+AccIncrS = 1000000;
+DecIncrS = 1000000;
+EncOffsetIncr = 0;
+IsSteering = false;
+CurrentToTorque = 0.10065; 	// Factor to convert motor active current [A] into Torque [Nm]
+CurrMax = 9.62;			// Defines maximum allowed current command (in MotionMode: CurrentCtrl)
+HomingDigIn = 19;
+
+[Steer3]
+EncIncrPerRevMot = 4096;
+VelMeasFrqHz = 1;
+GearRatio = 12.66666666;
+BeltRatio = 1;
+Sign = -1.0;
+VelMaxEncIncrS = 240000;
+AccIncrS = 1000000;
+DecIncrS = 1000000;
+EncOffsetIncr = -12689; 
+IsSteering = true;
+CurrentToTorque = 0.10065; 	// Factor to convert motor active current [A] into Torque [Nm]
+CurrMax = 9.62;			// Defines maximum allowed current command (in MotionMode: CurrentCtrl)
+HomingDigIn = 19;
+
+[Drive4]
+EncIncrPerRevMot = 4096;
+VelMeasFrqHz = 1;
+GearRatio = 15;
+BeltRatio = 2;
+Sign = -1.0;
+VelMaxEncIncrS = 240000;
+AccIncrS = 1000000;
+DecIncrS = 1000000;
+EncOffsetIncr = 0;
+IsSteering = false;
+CurrentToTorque = 0.10065; 	// Factor to convert motor active current [A] into Torque [Nm]
+CurrMax = 9.62;			// Defines maximum allowed current command (in MotionMode: CurrentCtrl)
+HomingDigIn = 19;
+
+[Steer4]
+EncIncrPerRevMot = 4096;
+VelMeasFrqHz = 1;
+GearRatio = 12.66666666;
+BeltRatio = 1;
+Sign = 1.0;
+VelMaxEncIncrS = 240000;
+AccIncrS = 1000000;
+DecIncrS = 1000000;
+EncOffsetIncr = -10390
+IsSteering = true;
+CurrentToTorque = 0.10065; 	// Factor to convert motor active current [A] into Torque [Nm]
+CurrMax = 9.62;			// Defines maximum allowed current command (in MotionMode: CurrentCtrl)
+HomingDigIn = 19;
+
+// ----------------------------------------------------------------------
+// Configuration of the ultrasonic sensors
+// ----------------------------------------------------------------------
+
+// ultrasonic sensors
+[US]
+/ factor to scale ultrasonic values
+ScaleToMM = 0.543
+
+// Each ultrasonic sensor has the parameters:
+//	Minimum measure distance in [mm]
+// MinMeasDistMM = xxx;
+//	Maximum measure distance in [mm]
+// MaxMeasDistMM = xxx;
+// PosXMM x-coordinate with respect to the platform frame in [mm]
+//	PosXMM = xxx;
+// PosYMM y-coordinate with respect to the platform frame in [mm]
+//	PosYMM = xxx;
+// PosZMM z-coordinate with respect to the platform frame in [mm]
+//	PosZMM = xxx;
+
+[US0]
+MinMeasDistMM = 10;
+MaxMeasDistMM = 4000;
+PosXMM = 0;
+PosYMM = 100;
+PosZMM = 200;
+
+[US1]
+MinMeasDistMM = 10;
+MaxMeasDistMM = 4000;
+PosXMM = 0;
+PosYMM = 100;
+PosZMM = 300;
+
+[US2]
+MinMeasDistMM = 10;
+MaxMeasDistMM = 4000;
+PosXMM = 0;
+PosYMM = 100;
+PosZMM = 400;
+
+[US3]
+MinMeasDistMM = 10;
+MaxMeasDistMM = 4000;
+PosXMM = 0;
+PosYMM = -100;
+PosZMM = 200;
+
+[US4]
+MinMeasDistMM = 10;
+MaxMeasDistMM = 4000;
+PosXMM = 0;
+PosYMM = -100;
+PosZMM = 300;
+
+[US5]
+MinMeasDistMM = 10;
+MaxMeasDistMM = 4000;
+PosXMM = 0;
+PosYMM = -100;
+PosZMM = 400;
+
+[US6]
+MinMeasDistMM = 10;
+MaxMeasDistMM = 4000;
+PosXMM = 0;
+PosYMM = -100;
+PosZMM = 400;
+
+[US7]
+MinMeasDistMM = 10;
+MaxMeasDistMM = 4000;
+PosXMM = 0;
+PosYMM = -100;
+PosZMM = 400;
+>>>>>>> cae33bb942ffc9dec86aa279e07100a3c6fec3fd

cob_camera_sensors/ros/launch/cob3-1/left.launch

@@ -16,4 +16,5 @@
   </node>
   <node ns="left" pkg="image_proc" type="image_proc" respawn="false" name="left_image_proc" />
 
-</launch>
+</launch>
+

cob_camera_sensors/ros/launch/cob3-1/right.launch

@@ -18,4 +18,5 @@
   </node>
   <node ns="right" pkg="image_proc" type="image_proc" respawn="false" name="right_image_proc" />
 
-</launch>
+</launch>
+